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Revenue from Contracts with Customers - Disaggregation of revenue (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Revenue
Revenue	$ 58,838	$ 57,147	$ 172,178	$ 162,384
Products and Licenses transferred at a point in time
Revenue
Revenue	31,732	31,280	95,461	89,496
Services transferred over time
Revenue
Revenue	27,106	25,867	76,717	72,888
EMEA
Revenue
Revenue	$ 26,233	$ 25,999	$ 80,592	$ 74,396
Percent of total	45.00%	45.00%	47.00%	46.00%
Americas
Revenue
Revenue	$ 19,999	$ 20,394	$ 58,828	$ 56,972
Percent of total	34.00%	36.00%	34.00%	35.00%
APAC
Revenue
Revenue	$ 12,606	$ 10,754	$ 32,758	$ 31,016
Percent of total	21.00%	19.00%	19.00%	19.00%
Subscription
Revenue
Revenue	$ 26,185	$ 22,262	$ 79,126	$ 65,360
Maintenance and support
Revenue
Revenue	12,271	12,851	35,035	36,975
Professional services and other
Revenue
Revenue	$ 1,543	$ 2,220	$ 4,666	$ 6,101
Percent of total	2.00%	3.00%	2.00%	3.00%
Hardware products
Revenue
Revenue	$ 18,839	$ 19,814	$ 53,351	$ 53,948

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