Revenue - Narrative (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022
Disaggregation of Revenue [Line Items]
Future performance obligation	$ 184,438
Revenue recognized that was included in the contract liability balance at the beginning of the period	$ 212,594	$ 178,098
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-10-01
Disaggregation of Revenue [Line Items]
Remaining performance obligation	62.60%
Revenue recognized during the period	15 months
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01
Disaggregation of Revenue [Line Items]
Revenue recognized during the period
Transferred at Point in Time
Disaggregation of Revenue [Line Items]
Remaining performance obligation	95.00%
Transferred over Time
Disaggregation of Revenue [Line Items]
Remaining performance obligation	5.00%