Revenues - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Disaggregation of Revenue [Line Items]
Contract with customer, deferred revenues	$ 33,243	$ 19,390	$ 11,130
Contract with customer, deferred revenues, current	26,215	12,256
Contract with customer, deferred revenues, noncurrent	7,000
Sales commissions	24,100	$ 20,600	$ 16,000
Service-Type Warranties
Disaggregation of Revenue [Line Items]
Contract with customer, deferred revenues	8,900
Contract with customer, deferred revenues, current	4,200
Contract with customer, deferred revenues, noncurrent	$ 4,700