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Principal Accounting Policies - Revenue Recognition (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Disaggregation of Revenue      
Total revenue $ 229,990 $ 208,172 $ 302,076
Services expiration period 12 months    
Remaining performance obligations $ 7,308 7,215  
Contract liability, including both deferred revenue and the advance from customers $ 39,084 34,848  
Revenue, remaining performance obligation, optional exemption, performance obligation [true false] true    
Current deferred revenue      
Disaggregation of Revenue      
Remaining performance obligations $ 6,802 6,821  
Non-current deferred revenue      
Disaggregation of Revenue      
Remaining performance obligations $ 506 394  
Maximum      
Disaggregation of Revenue      
Remaining performance obligation recognition period 36 months    
Minimum      
Disaggregation of Revenue      
Remaining performance obligation recognition period 18 months    
IoT PaaS      
Disaggregation of Revenue      
Total revenue $ 167,694 152,914 261,360
IoT PaaS | Maximum      
Disaggregation of Revenue      
Life cycle of different smart devices 2 years    
IoT PaaS | Minimum      
Disaggregation of Revenue      
Life cycle of different smart devices 1 year 6 months    
Smart device distribution      
Disaggregation of Revenue      
Total revenue $ 26,517 25,446 22,153
SaaS and others      
Disaggregation of Revenue      
Total revenue $ 35,779 $ 29,812 $ 18,563