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Intangible Assets - Schedule of intangible assets (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021
Intangible assets, net |  |
Gross Carrying Amount | $ 89,926 | $ 96,397
Accumulated Amortization | 77,444 | 75,127
Acquired technology |  |
Intangible assets, net |  |
Gross Carrying Amount | 42,022 | 43,034
Accumulated Amortization | $ 41,894 | 42,281
Acquired technology | Minimum |  |
Finite-Lived Intangible Assets |  |
Estimated useful lives of assets | 3 years |
Acquired technology | Maximum |  |
Finite-Lived Intangible Assets |  |
Estimated useful lives of assets | 7 years |
Customer relationships |  |
Intangible assets, net |  |
Gross Carrying Amount | $ 34,386 | 39,814
Accumulated Amortization | $ 23,323 | 20,653
Customer relationships | Minimum |  |
Finite-Lived Intangible Assets |  |
Estimated useful lives of assets | 5 years |
Customer relationships | Maximum |  |
Finite-Lived Intangible Assets |  |
Estimated useful lives of assets | 12 years |
Patents and trademarks |  |
Intangible assets, net |  |
Gross Carrying Amount | $ 13,518 | 13,549
Accumulated Amortization | $ 12,227 | $ 12,193
Patents and trademarks | Minimum |  |
Finite-Lived Intangible Assets |  |
Estimated useful lives of assets | 10 years |
Patents and trademarks | Maximum |  |
Finite-Lived Intangible Assets |  |
Estimated useful lives of assets | 20 years |

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