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Intangible Assets - Schedule of intangible assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
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