Revenue Recognition - Disaggregation of Revenue (Details) - USD ($) $ in Thousands	3 Months Ended								12 Months Ended
	Dec. 31, 2021	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Dec. 31, 2020	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Disaggregation of Revenue [Line Items]
Revenues	$ 135,748	$ 128,738	$ 122,869	$ 117,842	$ 112,329	$ 113,587	$ 91,119	$ 108,508	$ 505,198	$ 425,544	$ 424,625
Revenue, remaining performance obligation, percentage									100.00%	100.00%
Revenue recognized over time
Disaggregation of Revenue [Line Items]
Revenues									$ 28,524	$ 21,479
Revenue recognized over time | Service Concentration Risk | Revenue Benchmark
Disaggregation of Revenue [Line Items]
Revenue, remaining performance obligation, percentage									5.60%	5.00%
Revenue recognized at a point in time
Disaggregation of Revenue [Line Items]
Revenues									$ 476,674	$ 404,065
Revenue recognized at a point in time | Product Concentration Risk | Revenue Benchmark
Disaggregation of Revenue [Line Items]
Revenue, remaining performance obligation, percentage									94.40%	95.00%