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Summary of Significant Accounting Policies (Details 1) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Revenue | $ 328,304 | $ 246,322 | $ 227,603
Minimum |  |  |
License agreement, term of agreement | 1 year |  |
Long-duration contracts, assumptions by product and guarantee, discount rate | 3.00% |  |
Maximum |  |  |
License agreement, term of agreement | 10 years |  |
Long-duration contracts, assumptions by product and guarantee, discount rate | 5.00% |  |
Percentage of completion |  |  |
Revenue | $ 7,500 |  |

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