Summary of Significant Accounting Policies - Contract Balances (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Changes in the Company's contract assets and contract liabilities
Contract asset, Beginning balance		$ 3,000
Contract asset, Additions		0
Contract asset, Ending balance		3,000
Contract liabilities:
Contract liabilities (deferred revenue), Beginning balance	$ 50,211	92,068
Contract liabilities (deferred revenue), Additions		3,803
Contract liabilities (deferred revenue), Deductions	(2,712)	(25,760)
Contract liabilities (deferred revenue), Ending balance	$ 47,499	$ 70,111