Back from work!
Given that you're after something more structured, I'd +1 for TrainerRoad. Advantages are it's an established product, there are integrated training plans and it supports a few of the more well-known training videos, sufferfest being the prime example. In my experience the sensor pairing (often a source of trouble) is very reliable and supports both Ant+ and Bluetooth protocols. It'll also try to estimate your power output based on your speed and turbo model (sometimes known as 'virtual power') although this should only be taken as a rough guide. Customer support is excellent. Costs about $10 a month or thereabouts for a subscription, cancellable at any time.
Downsides are that it can feel a little 'dry' at times, especially if you're not using a synchronised training vid. The export options are weak- you have to export a file from TrainerRoad and then into your tracking software of choice rather than directly export. Also, the ride analysis functions in the associated website a clear but limited. It's also single player only if you're looking for interaction.
Next up is Bsim Bkool. Bsim does a lot, including virtual 3D rides, rides synchronised with recorded video and multiplayer races. This was developed primarily to support the associated bkool turbo. I don't think it can work just with a speed sensor - I think it needs an explicit power output - so might fail your criteria out of the box. The downside of Bsim is that the software and associated website are eccentric to say the least. Personally I got fed up and cancelled my subscription. There's a group on here with more patience than me that have it working after a fashion. I don't think anyone would say the support is great. I think subscription is about €8 a month, but might be a euro or two out.
Last one I know a lot about is Zwift. Zwift is another 3D multiplayer 'game'. Unlike Bsim, it supports riders without a power sensor using the same virtual power approach as TrainerRoad. At present Zwift is still invite only as it's at the beta stage. I've been riding it for about 2 months now, so what follows are initial impressions.
Zwift is much slicker than Bsim, but in it's present form has very limited functionality. You have a simple 5km circuit ('the island') which you ride around with whoever is also active. I've been on with 145 other riders at one point. The circuit has a biggish hill in the middle which, if you're riding a controlled resistance trainer like the kickr, will vary your resistance. If you're on a 'dumb' turbo, it'll scale your speed based on a model of your weight, incline and estimated power output. And for now that's it. They're promising so much more (courses, training functions etc). Although it's got a huge amount of potential and the quality appears to be high, I still think there's a way to go. Free during beta but I'm guessing around $10 a month.
PerfPro is another program along the lines of a multiuser TrainerRoad. It's an old school windows application with a relatively high upfront cost - from $99, but no subscription payments after that unless you put your data in their cloud. I've never used it although I have seen it in action.
TrainingPeaks is the daddy in terms of analysis, but I don't thing they do any live logging software. They seem to be buying up the world and his bike computer at the moment though, so I wouldn't be surprised if they move in on the action.
As the wahoo is 'dual' Ant+ and Bluetooth, you'll find a number of less well known apps on Google play and the Apple store that might offer some more interest, but most of these seemed very lightweight last time I looked.
Hope that helps.