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The Nature of Expenses - Amortization of intangible assets (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Statement [line items]      
Amortization of intangible assets $ 1,378 $ 1,738 $ 1,723
Cost of Revenues      
Statement [line items]      
Amortization of intangible assets 93 78 57
Operating Expenses      
Statement [line items]      
Amortization of intangible assets $ 1,285 $ 1,660 $ 1,666