How do I load rows into dataTable 2 when a row in dataTable 1 is clicked? - primefaces

Question

I have a form with a panel and two dataTables. The code below has had most of the columns removed to make it easier to follow.
<h:form id="invoiceLookUp">
<p:panel>
<f:facet name="header">
<p:column style="font-weight: bold;">
Invoice Selection Criteria
</p:column>
</f:facet>
<h:outputText value="Seq ID"/>
<p:inputText
id="invoice_header_seq_id" styleClass="field" size="10"
value="#{invoiceBean.invoice_header_seq_id}"
/>
<p:commandButton
update="invoicesTable" value="Look Up"
action="#{invoiceBean.addInvoices()}"
/>
</p:panel>
<p:dataTable
id="invoicesTable" var="invoice" rows="15" lazy="true" selectionMode="single"
value="#{invoiceBean.invoiceList}"
rowKey="#{invoice.invoiceHeader.invoiceHeaderSeqId}"
selection="#{invoiceBean.selectedInvoice}"
>
<p:ajax event="rowSelect" update=":invoiceLookUp:invoiceLinesTable"/>
<f:facet name="header"><h:outputText value="Invoice Headers" /></f:facet>
<p:column sortBy="#{invoice.invoiceHeader.invoiceHeaderSeqId}" id="invoiceSeqId">
<f:facet name="header">
<h:outputText value="Seq ID" title="Invoice Header Seq ID"/>
</f:facet>
<h:outputText value="#{invoice.invoiceHeader.invoiceHeaderSeqId}" />
</p:column>
</p:dataTable>
<p:dataTable
id="invoiceLinesTable" var="invoiceLine" rows="15" lazy="true" selectionMode="single"
value="#{invoiceBean.selectedInvoice.invoiceLines}"
rowKey="#{invoiceLine.invoiceLineSeqId}"
selection="#{invoiceBean.selectedInvoiceLine}"
>
<f:facet name="header"><h:outputText value="Invoice Lines" /></f:facet>
<p:column sortBy="#{invoiceLine.invoiceLineSeqId}" id="invoiceLineSeqId">
<f:facet name="header"><h:outputText value="Line Seq ID"/></f:facet>
<h:outputText value="#{invoiceLine.invoiceLineSeqId}"/>
</p:column>
</p:dataTable>
</h:form>
When you enter a Seq ID and then click Look Up, the table populates as expected. When I select a row in the invoicesTable, I get the following error:
javax.faces.FacesException: Cannot find component with identifier ":invoiceLookUp:invoiceLinesTable" referenced from "form:invoiceLookUp:invoicesTable".
Can anyone tell me what I am doing wrong?