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Disaggregation of Revenue (Tables)
9 Months Ended
Sep. 30, 2021
Disaggregation of Revenue [Abstract]  
Schedule of Disaggregation Of Revenue [Table Text Block] The geographic information in the table below is presented for the three and nine months ended September 30, 2021 and 2020. The Company categorizes geographic revenues based on the location of the customer's headquarters. Because the Company's contracts are predominately denominated in U.S. dollars, it has limited exposure to foreign currency exchange risk as discussed under "Foreign Currency Exchange Risk" of Part I, Item 3 below.
 Three Months Ended September 30,Nine Months Ended September 30,
 2021202020212020
(in thousands)RevenuePercentRevenuePercentRevenuePercentRevenuePercent
United States of America$23,275 37 %$19,960 32 %$66,026 35 %$62,475 33 %
Europe18,571 30 %18,827 31 %55,825 30 %56,439 29 %
The rest of the world20,825 33 %22,721 37 %64,599 35 %72,652 38 %
      Total revenue$62,671 100 %$61,508 100 %$186,450 100 %$191,566 100 %