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Summary of Significant Accounting Policies - Long-Lived Assets (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Long-Lived Assets |  |
Cost | $ 80,231 | $ 73,815
Accumulated Depreciation/ Amortization | $ (71,168) | (67,352)
Furniture and fixtures |  |
Long-Lived Assets |  |
Estimated useful lives | 5 years |
Cost | $ 4,244 | 2,809
Accumulated Depreciation/ Amortization | $ (2,463) | (2,249)
Equipment, computer hardware and purchased software | Minimum |  |
Long-Lived Assets |  |
Estimated useful lives | 2 years |
Equipment, computer hardware and purchased software | Maximum |  |
Long-Lived Assets |  |
Estimated useful lives | 3 years |
Costs of internal-use software |  |
Long-Lived Assets |  |
Estimated useful lives | 3 years |
Cost | $ 13,785 | 14,683
Accumulated Depreciation/ Amortization | (12,593) | (11,332)
Office equipment |  |
Long-Lived Assets |  |
Cost | 1,672 | 1,012
Accumulated Depreciation/ Amortization | (982) | (894)
Computer hardware |  |
Long-Lived Assets |  |
Cost | 12,556 | 11,125
Accumulated Depreciation/ Amortization | (11,273) | (10,607)
Purchased software |  |
Long-Lived Assets |  |
Cost | 40,266 | 39,015
Accumulated Depreciation/ Amortization | (39,271) | (38,358)
Leasehold improvements |  |
Long-Lived Assets |  |
Cost | 7,708 | 5,171
Accumulated Depreciation/ Amortization | $ (4,586) | $ (3,912)

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