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Intangible Assets - Schedule of intangible assets (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Intangible assets, net |  |
Gross Carrying Amount | $ 91,745 | $ 89,926
Accumulated Amortization | 80,913 | 77,444
Acquired technology |  |
Intangible assets, net |  |
Gross Carrying Amount | 43,869 | 42,022
Accumulated Amortization | $ 42,712 | $ 41,894
Acquired technology | Minimum |  |
Finite-Lived Intangible Assets |  |
Estimated useful lives of assets | 3 years | 3 years
Acquired technology | Maximum |  |
Finite-Lived Intangible Assets |  |
Estimated useful lives of assets | 7 years | 7 years
Customer relationships |  |
Intangible assets, net |  |
Gross Carrying Amount | $ 34,773 | $ 34,386
Accumulated Amortization | $ 25,960 | $ 23,323
Customer relationships | Minimum |  |
Finite-Lived Intangible Assets |  |
Estimated useful lives of assets | 5 years | 5 years
Customer relationships | Maximum |  |
Finite-Lived Intangible Assets |  |
Estimated useful lives of assets | 12 years | 12 years
Patents and trademarks |  |
Intangible assets, net |  |
Gross Carrying Amount | $ 13,103 | $ 13,518
Accumulated Amortization | $ 12,241 | $ 12,227
Patents and trademarks | Minimum |  |
Finite-Lived Intangible Assets |  |
Estimated useful lives of assets | 10 years | 10 years
Patents and trademarks | Maximum |  |
Finite-Lived Intangible Assets |  |
Estimated useful lives of assets | 20 years | 20 years

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