Revenue Recognition - Changes in Balance of Deferred Revenues (Details) - USD ($) $ in Thousands |
3 Months Ended | |
|---|---|---|
Mar. 31, 2024 |
Mar. 31, 2023 |
|
| Revenue Recognition | ||
| Beginning balance | $ 35,740 | $ 30,778 |
| Increase in deferred revenues | 7,941 | 12,100 |
| Revenue recognized during the period that was included in deferred revenues at the beginning of the period | (7,048) | (3,988) |
| Revenue recognized from performance obligations satisfied within the same period | (100) | (800) |
| Ending Balance | $ 36,533 | $ 38,090 |