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Goodwill and Intangible Assets (Tables)
 12 Months Ended
Dec. 31, 2023
Goodwill and Intangible Assets Disclosure [Abstract]  
Schedule of Goodwill
The following table details the changes in goodwill during the fiscal years ended December 31, 2023 and 2022 (in thousands):

Carrying Amount
Balance as of December 31, 2021
$27,795 
Foreign currency translation adjustments(1,446)
Balance as of December 31, 2022
$26,349 
Foreign currency translation adjustments757 
Balance as of December 31, 2023
$27,106 
Schedule of Finite-lived Intangible Assets
Intangible assets, net consisted of the following as of December 31, 2023 and 2022 (in thousands):

As of December 31,
20232022
Developed technology$7,091 $6,893 
Customer relationships
950 1,073 
Intangible assets, gross8,041 7,966 
Less: Accumulated amortization(4,152)(2,715)
Intangible assets, net$3,889 $5,251 
Schedule of Finite-lived Intangible Assets, Future Amortization Expense
The following table shows the projected annual amortization expense related to amortizable intangible assets as of December 31, 2023 (in thousands):

Year Ended December 31,
2024$1,513 
20251,204 
2026775 
202795 
202895 
Thereafter207 
Total projected amortization expense$3,889