Quarterly report pursuant to Section 13 or 15(d)

Revenue Recognition - Narrative (Details)

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Revenue Recognition - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Disaggregation of Revenue [Line Items]      
Current portion of contract assets $ 2,538   $ 3,707
Contract assets, noncurrent 307   451
Revenue recognized from prior year deferred revenue balance 17,323 $ 6,900  
Lease revenue (less than) 14,545 6,519  
Deferred asset related to commissions 11,500   $ 11,400
Amortized commissions 1,400 1,600  
Related Party      
Disaggregation of Revenue [Line Items]      
Lease revenue (less than) $ 300 $ 200