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Revenue - Impacts on financial statements (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2018
Mar. 31, 2017
Jan. 01, 2018
Dec. 31, 2017
Pro forma Balance Sheet:        
Accounts receivable, net of allowances of $809 in 2018 and $520 in 2017 $ 34,445     $ 48,126
Contract assets 4,874      
Other current assets 4,547     5,501
Total current assets 228,285     227,937
Deferred income taxes 4,975     5,460
Contract asset - non-current 7,488      
Other assets 7,062     5,229
Total assets 346,868     337,622
Deferred revenue 30,433     33,295
Short-term income taxes payable 1,435     3,673
Deferred compensation 395     1,652
Total current liabilities 57,352     66,153
Deferred revenue - non-current 6,773     7,019
Deferred income taxes 8,169     7,753
Total liabilities 92,642     99,692
Accumulated income 170,319     156,151
Total stockholders' equity 254,226     237,930
Total liabilities and stockholders' equity 346,868     $ 337,622
Pro format Income Statement:        
Revenue 45,432 $ 41,965    
Total revenue 45,432 41,965    
Cost of goods sold 8,185      
Total cost of goods sold 10,735 12,053    
Gross profit 34,697 29,912    
Sales and marketing 14,277 13,702    
Total operating costs 33,049 29,610    
Operating income 1,648 302    
Income before taxes 2,421 806    
Provision for income taxes 629 233    
Net income $ 1,792 $ 573    
Basic (in dollars per share) $ 0.04 $ 0.01    
Diluted (in dollars per share) $ 0.04 $ 0.01    
ASU 2014-09        
Pro forma Balance Sheet:        
Accumulated income     $ 12,371  
ASU 2014-09 | Adjustments        
Pro forma Balance Sheet:        
Accounts receivable, net of allowances of $809 in 2018 and $520 in 2017 $ (276)      
Contract assets (4,874)      
Other current assets 302      
Total current assets (4,848)      
Deferred income taxes 507      
Contract asset - non-current (7,488)      
Other assets (30)      
Total assets (11,859)      
Deferred revenue 5,468      
Short-term income taxes payable (1,942)      
Total current liabilities 3,526      
Deferred revenue - non-current 89      
Deferred income taxes (424)      
Total liabilities 3,191      
Accumulated income (15,050)      
Total stockholders' equity (15,050)      
Total liabilities and stockholders' equity (11,859)      
Pro format Income Statement:        
Total revenue (3,145)      
Cost of goods sold 393      
Total cost of goods sold 393      
Gross profit (3,538)      
Sales and marketing 382      
Total operating costs 382      
Operating income (3,920)      
Income before taxes (3,920)      
Provision for income taxes (1,019)      
Net income (2,901)      
ASU 2014-09 | Balances without the adoption of Topic 606        
Pro forma Balance Sheet:        
Accounts receivable, net of allowances of $809 in 2018 and $520 in 2017 34,169      
Other current assets 4,849      
Total current assets 223,437      
Deferred income taxes 5,482      
Other assets 7,032      
Total assets 335,009      
Deferred revenue 35,901      
Short-term income taxes payable (507)      
Total current liabilities 60,878      
Deferred revenue - non-current 6,862      
Deferred income taxes 7,745      
Total liabilities 95,833      
Accumulated income 155,269      
Total stockholders' equity 239,176      
Total liabilities and stockholders' equity 335,009      
Pro format Income Statement:        
Total revenue 42,287      
Cost of goods sold 8,578      
Total cost of goods sold 11,128      
Gross profit 31,159      
Sales and marketing 14,659      
Total operating costs 33,431      
Operating income (2,272)      
Income before taxes (1,499)      
Provision for income taxes (390)      
Net income $ (1,109)      
Basic (in dollars per share) $ (0.03)      
Diluted (in dollars per share) $ (0.03)      
Product and license        
Pro format Income Statement:        
Revenue $ 33,494 $ 31,561    
Cost of goods sold 8,185 9,540    
Product and license | ASU 2014-09 | Adjustments        
Pro format Income Statement:        
Revenue (2,447)      
Product and license | ASU 2014-09 | Balances without the adoption of Topic 606        
Pro format Income Statement:        
Revenue 31,047      
Service and other        
Pro format Income Statement:        
Revenue 11,938 10,404    
Cost of goods sold 2,550 $ 2,513    
Service and other | ASU 2014-09 | Adjustments        
Pro format Income Statement:        
Revenue (698)      
Service and other | ASU 2014-09 | Balances without the adoption of Topic 606        
Pro format Income Statement:        
Revenue 11,240      
Cost of goods sold $ 2,550