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Geographic, Customer and Supplier Information - Sales details of customers locations in four geographic regions (Details) - USD ($)
$ in Thousands
 3 Months Ended 12 Months Ended
Dec. 31, 2023
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Geographic, Customer and Supplier Information                      
Total revenue $ 62,928 $ 58,838 $ 55,733 $ 57,607 $ 56,622 $ 57,147 $ 52,790 $ 52,447 $ 235,106 $ 219,006 $ 214,481
Gross margin 43,466 $ 40,669 $ 34,294 $ 39,286 37,955 $ 38,431 $ 35,506 $ 36,678 157,715 148,570 142,935
Long-lived assets 24,893       20,703       24,893 20,703 19,954
EMEA                      
Geographic, Customer and Supplier Information                      
Total revenue                 111,568 100,298 104,878
Americas                      
Geographic, Customer and Supplier Information                      
Total revenue                 80,057 77,740 68,646
APAC                      
Geographic, Customer and Supplier Information                      
Total revenue                 43,481 40,968 40,957
Operating Segments | EMEA                      
Geographic, Customer and Supplier Information                      
Total revenue                 111,568 100,298 104,878
Gross margin                 74,843 68,040 69,893
Long-lived assets 5,783       4,856       5,783 4,856 5,978
Operating Segments | Americas                      
Geographic, Customer and Supplier Information                      
Total revenue                 80,057 77,740 68,646
Gross margin                 53,704 52,738 45,747
Long-lived assets 18,795       15,270       18,795 15,270 13,634
Operating Segments | APAC                      
Geographic, Customer and Supplier Information                      
Total revenue                 43,481 40,968 40,957
Gross margin                 29,168 27,792 27,295
Long-lived assets $ 315       $ 577       $ 315 $ 577 $ 342