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Intangible Assets - Schedule of Intangible Assets (Details) - USD ($) | 3 Months Ended |
--- | --- | ---
Mar. 31, 2024 | Mar. 31, 2023 | Dec. 31, 2023
Intangible assets, net |  |  |
Gross Carrying Amount | $ 91,454,000 |  | $ 91,745,000
Accumulated Amortization | 81,308,000 |  | 80,913,000
Amortization | 700,000 | $ 600,000 |
Impairment of intangible assets | 0 | 0 |
Acquired technology |  |  |
Intangible assets, net |  |  |
Gross Carrying Amount | 43,634,000 |  | 43,869,000
Accumulated Amortization | $ 42,584,000 |  | $ 42,712,000
Acquired technology | Minimum |  |  |
Intangible assets, net |  |  |
Useful Life (in years) | 3 years |  | 3 years
Acquired technology | Maximum |  |  |
Intangible assets, net |  |  |
Useful Life (in years) | 7 years |  | 7 years
Customer relationships |  |  |
Intangible assets, net |  |  |
Gross Carrying Amount | $ 34,707,000 |  | $ 34,773,000
Accumulated Amortization | $ 26,457,000 |  | $ 25,960,000
Customer relationships | Minimum |  |  |
Intangible assets, net |  |  |
Useful Life (in years) | 5 years |  | 5 years
Customer relationships | Maximum |  |  |
Intangible assets, net |  |  |
Useful Life (in years) | 12 years |  | 12 years
Patents, trademarks, and other |  |  |
Intangible assets, net |  |  |
Gross Carrying Amount | $ 13,113,000 |  | $ 13,103,000
Accumulated Amortization | $ 12,267,000 |  | $ 12,241,000
Patents, trademarks, and other | Minimum |  |  |
Intangible assets, net |  |  |
Useful Life (in years) | 10 years |  | 10 years
Patents, trademarks, and other | Maximum |  |  |
Intangible assets, net |  |  |
Useful Life (in years) | 20 years |  | 20 years
Cloud Subscription Agreements |  |  |
Intangible assets, net |  |  |
Amortization expense directly related to generating revenue | $ 100,000 | $ 100,000 |

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