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Revenue - Impacts on financial statements (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2018
Sep. 30, 2017
Sep. 30, 2018
Sep. 30, 2017
Jan. 01, 2018
Dec. 31, 2017
Current assets            
Accounts receivable, net of allowance $ 42,534   $ 42,534     $ 48,126
Contract asset 6,653   6,653      
Other current assets 7,309   7,309     5,501
Total current assets 168,939   168,939     227,937
Deferred income taxes 4,911   4,911     5,460
Contract assets - non-current 4,407   4,407      
Other assets 7,476   7,476     5,229
Total assets 333,421   333,421     337,622
Current liabilities            
Deferred revenue 28,344   28,344     33,295
Short-term income taxes payable 1,600   1,600     3,673
Other accrued expenses 10,683   10,683     7,746
Total current liabilities 56,914   56,914     66,153
Deferred revenue - non-current 5,254   5,254     7,019
Deferred income taxes 6,111   6,111     7,753
Total liabilities 83,545   83,545     99,692
Stockholders' equity            
Accumulated income 168,409   168,409     156,151
Total stockholders' equity 249,876   249,876     237,930
Total liabilities and stockholders' equity 333,421   333,421     $ 337,622
Revenue            
Total Revenue 52,495 $ 51,126 147,481 $ 138,785    
Cost of goods sold            
Total Cost of goods sold 17,952 14,480 42,260 40,179    
Gross profit 34,543 36,646 105,221 98,606    
Operating costs            
Sales and marketing 16,039 13,956 46,938 42,997    
Total operating costs 37,657 31,534 109,298 93,592    
Operating income (loss) (3,114) 5,112 (4,077) 5,014    
Loss before taxes (2,610) 5,313 (1,061) 6,432    
Provision (benefit) for income taxes (1,702) 2,558 (943) 2,994    
Net income (loss) $ (908) $ 2,755 $ (118) $ 3,438    
Basic (in dollars per share) $ (0.02) $ 0.07 $ 0.00 $ 0.09    
Diluted (in dollars per share) $ (0.02) $ 0.07 $ 0.00 $ 0.09    
Product and license            
Revenue            
Total Revenue $ 36,882 $ 38,421 $ 105,362 $ 104,454    
Cost of goods sold            
Total Cost of goods sold 14,321 12,083 32,897 32,668    
Service and other            
Revenue            
Total Revenue 15,613 12,705 42,119 34,331    
Cost of goods sold            
Total Cost of goods sold 3,631 $ 2,397 9,363 $ 7,511    
ASU 2014-09            
Stockholders' equity            
Accumulated income         $ 11,900  
ASU 2014-09 | Adjustments            
Current assets            
Accounts receivable, net of allowance (340)   (340)      
Contract asset (6,653)   (6,653)      
Other current assets (369)   (369)      
Total current assets (7,362)   (7,362)      
Deferred income taxes 507   507      
Contract assets - non-current (4,407)   (4,407)      
Other assets (289)   (289)      
Total assets (11,551)   (11,551)      
Current liabilities            
Deferred revenue 3,402   3,402      
Short-term income taxes payable (1,200)   (1,200)      
Other accrued expenses (352)   (352)      
Total current liabilities 1,851   1,851      
Deferred revenue - non-current 2,958   2,958      
Deferred income taxes (424)   (424)      
Total liabilities 4,385   4,385      
Stockholders' equity            
Accumulated income (15,936)   (15,936)      
Total stockholders' equity (15,936)   (15,936)      
Total liabilities and stockholders' equity (11,551)   (11,551)      
Revenue            
Total Revenue (534)   (3,000)      
Cost of goods sold            
Total Cost of goods sold (83)   451      
Gross profit (451)   (3,451)      
Operating costs            
Sales and marketing 235   842      
Total operating costs 235   842      
Operating income (loss) (686)   (4,293)      
Loss before taxes (686)   (4,293)      
Provision (benefit) for income taxes 1,490   (277)      
Net income (loss) (2,176)   (4,016)      
ASU 2014-09 | Balances without the adoption of Topic 606            
Current assets            
Accounts receivable, net of allowance 42,194   42,194      
Other current assets 6,940   6,940      
Total current assets 161,577   161,577      
Deferred income taxes 5,418   5,418      
Other assets 7,187   7,187      
Total assets 321,870   321,870      
Current liabilities            
Deferred revenue 31,746   31,746      
Short-term income taxes payable 400   400      
Other accrued expenses 10,331   10,331      
Total current liabilities 58,765   58,765      
Deferred revenue - non-current 8,212   8,212      
Deferred income taxes 5,687   5,687      
Total liabilities 87,930   87,930      
Stockholders' equity            
Accumulated income 152,473   152,473      
Total stockholders' equity 233,940   233,940      
Total liabilities and stockholders' equity 321,870   321,870      
Revenue            
Total Revenue 51,961   144,481      
Cost of goods sold            
Total Cost of goods sold 17,869   42,711      
Gross profit 34,092   101,770      
Operating costs            
Sales and marketing 16,274   47,780      
Total operating costs 37,892   110,140      
Operating income (loss) (3,800)   (8,370)      
Loss before taxes (3,296)   (5,354)      
Provision (benefit) for income taxes (212)   (1,220)      
Net income (loss) $ (3,084)   $ (4,134)      
Basic (in dollars per share) $ (0.08)   $ (0.10)      
Diluted (in dollars per share) $ (0.08)   $ (0.10)      
ASU 2014-09 | Product and license | Adjustments            
Revenue            
Total Revenue $ 1,425   $ 1,350      
Cost of goods sold            
Total Cost of goods sold (83)   451      
ASU 2014-09 | Product and license | Balances without the adoption of Topic 606            
Revenue            
Total Revenue 38,307   106,712      
Cost of goods sold            
Total Cost of goods sold 14,238   33,348      
ASU 2014-09 | Service and other | Adjustments            
Revenue            
Total Revenue (1,959)   (4,350)      
ASU 2014-09 | Service and other | Balances without the adoption of Topic 606            
Revenue            
Total Revenue 13,654   37,769      
Cost of goods sold            
Total Cost of goods sold $ 3,631   $ 9,363