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Revenue - Impacts on financial statements (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 12 Months Ended
Dec. 31, 2018
Sep. 30, 2018
Jun. 30, 2018
Mar. 31, 2018
Dec. 31, 2017
Sep. 30, 2017
Jun. 30, 2017
Mar. 31, 2017
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Jan. 01, 2018
Current assets                        
Accounts receivable, net of allowance $ 59,631       $ 48,126       $ 59,631 $ 48,126    
Contract asset 7,962               7,962      
Other current assets 5,705       5,501       5,705 5,501    
Total current assets 191,956       227,937       191,956 227,937    
Deferred income taxes 5,601       5,460       5,601 5,460    
Contract assets - non-current 3,316               3,316      
Other assets 8,400       5,229       8,400 5,229    
Total assets 352,826       337,622       352,826 337,622    
Current liabilities                        
Deferred revenue 33,633       33,295       33,633 33,295    
Short-term income taxes payable 6,905       3,673       6,905 3,673    
Other accrued expenses 9,323       7,746       9,323 7,746    
Total current liabilities 72,357       66,153       72,357 66,153    
Deferred revenue - non-current 10,672       7,019       10,672 7,019    
Deferred income taxes 2,661       7,753       2,661 7,753    
Total liabilities 100,385       99,692       100,385 99,692    
Stockholders' equity                        
Accumulated income 172,378       156,151       172,378 156,151    
Total stockholders' equity 252,441       237,930       252,441 237,930    
Total liabilities and stockholders' equity 352,826       337,622       352,826 337,622    
Revenue                        
Total revenue 64,799 $ 52,495 $ 49,554 $ 45,432 54,506 $ 51,126 $ 45,694 $ 41,965 212,280 193,291 $ 192,304  
Cost of goods sold                        
Total cost of goods sold                 64,813 58,777 61,647  
Gross profit 42,246 34,543 35,981 34,697 35,908 36,646 32,048 29,912 147,467 134,514 130,657  
Operating costs                        
Sales and marketing                 63,805 58,994 57,347  
Total operating costs 38,145 37,657 38,592 33,049 34,730 31,534 32,448 29,610 147,443 128,322 121,058  
Operating income 4,101 (3,114) (2,611) 1,648 1,178 5,112 (400) 302 24 6,192 9,599  
Income (loss) before taxes                 3,553 8,381 11,377  
Provision (benefit) for income taxes 650 (1,702) (872) 629 27,786 2,558 313 233 (293) 30,780 863  
Net income (loss) $ 3,964 $ (908) $ (1,002) $ 1,792 $ (25,837) $ 2,755 $ 110 $ 573 $ 3,846 $ (22,399) $ 10,514  
Basic (in dollars per share) $ 0.10 $ (0.02) $ (0.03) $ 0.04 $ (0.65) $ 0.07 $ 0.00 $ 0.01 $ 0.10 $ (0.56) $ 0.27  
Diluted (in dollars per share) $ 0.10 $ (0.02) $ (0.03) $ 0.04 $ (0.65) $ 0.07 $ 0.00 $ 0.01 $ 0.10 $ (0.56) $ 0.27  
Product and license                        
Revenue                        
Total revenue                 $ 152,977 $ 147,257 $ 156,057  
Cost of goods sold                        
Total cost of goods sold                 50,706 48,333 53,191  
Service and other                        
Revenue                        
Total revenue                 59,303 46,034 36,247  
Cost of goods sold                        
Total cost of goods sold                 14,107 $ 10,444 $ 8,456  
ASU 2014-09                        
Stockholders' equity                        
Accumulated income                       $ 11,900
ASU 2014-09 | Adjustments                        
Current assets                        
Accounts receivable, net of allowance $ (331)               (331)      
Contract asset (7,962)               (7,962)      
Other current assets (703)               (703)      
Total current assets (8,996)               (8,996)      
Deferred income taxes 587               587      
Contract assets - non-current (3,316)               (3,316)      
Other assets (289)               (289)      
Total assets (12,014)               (12,014)      
Current liabilities                        
Deferred revenue 3,019               3,019      
Short-term income taxes payable (1,209)               (1,209)      
Other accrued expenses (116)               (116)      
Total current liabilities 1,694               1,694      
Deferred revenue - non-current 3,391               3,391      
Deferred income taxes (424)               (424)      
Total liabilities 4,661               4,661      
Stockholders' equity                        
Accumulated income (16,675)               (16,675)      
Total stockholders' equity (16,675)               (16,675)      
Total liabilities and stockholders' equity (12,014)               (12,014)      
Revenue                        
Total revenue                 (3,407)      
Cost of goods sold                        
Total cost of goods sold                 605      
Gross profit                 (4,012)      
Operating costs                        
Sales and marketing                 1,108      
Total operating costs                 1,108      
Operating income                 (5,120)      
Income (loss) before taxes                 (5,120)      
Provision (benefit) for income taxes                 (365)      
Net income (loss)                 (4,755)      
ASU 2014-09 | Balances without the adoption of Topic 606                        
Current assets                        
Accounts receivable, net of allowance 59,300               59,300      
Other current assets 5,002               5,002      
Total current assets 182,960               182,960      
Deferred income taxes 6,188               6,188      
Other assets 8,111               8,111      
Total assets 340,812               340,812      
Current liabilities                        
Deferred revenue 36,652               36,652      
Short-term income taxes payable 5,696               5,696      
Other accrued expenses 9,207               9,207      
Total current liabilities 74,051               74,051      
Deferred revenue - non-current 14,063               14,063      
Deferred income taxes 2,237               2,237      
Total liabilities 105,046               105,046      
Stockholders' equity                        
Accumulated income 155,703               155,703      
Total stockholders' equity 235,766               235,766      
Total liabilities and stockholders' equity $ 340,812               340,812      
Revenue                        
Total revenue                 208,873      
Cost of goods sold                        
Total cost of goods sold                 65,418      
Gross profit                 143,455      
Operating costs                        
Sales and marketing                 64,913      
Total operating costs                 148,551      
Operating income                 (5,096)      
Income (loss) before taxes                 (1,567)      
Provision (benefit) for income taxes                 (658)      
Net income (loss)                 $ (909)      
Basic (in dollars per share)                 $ (0.02)      
Diluted (in dollars per share)                 $ (0.02)      
ASU 2014-09 | Product and license | Adjustments                        
Revenue                        
Total revenue                 $ 2,365      
Cost of goods sold                        
Total cost of goods sold                 605      
ASU 2014-09 | Product and license | Balances without the adoption of Topic 606                        
Revenue                        
Total revenue                 155,342      
Cost of goods sold                        
Total cost of goods sold                 51,311      
ASU 2014-09 | Service and other | Adjustments                        
Revenue                        
Total revenue                 (5,772)      
ASU 2014-09 | Service and other | Balances without the adoption of Topic 606                        
Revenue                        
Total revenue                 53,531      
Cost of goods sold                        
Total cost of goods sold                 $ 14,107