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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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- Definition

Useful life of finite-lived intangible assets, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 350
-SubTopic 30
-Section 50
-Paragraph 2
-Subparagraph (a)(1)
-URI https://asc.fasb.org/extlink&oid=66006027&loc=d3e16323-109275

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section S99
-Paragraph 1
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Amount before amortization of assets, excluding financial assets and goodwill, lacking physical substance with a finite life.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 928
-SubTopic 340
-Section 50
-Paragraph 1
-URI https://asc.fasb.org/extlink&oid=6473545&loc=d3e61844-108004

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