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Segment Information - Revenues and Long-lived Assets by Geographic Information (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Revenues from External Customers and Long-Lived Assets [Line Items] |  |  |
Revenues | $ 362,422 | $ 352,664 | $ 331,168
Long-lived assets | 62,833 | 41,082 |
United States |  |  |
Revenues from External Customers and Long-Lived Assets [Line Items] |  |  |
Revenues | 286,044 | 274,814 | 256,853
Long-lived assets | 61,858 | 39,475 |
Canada |  |  |
Revenues from External Customers and Long-Lived Assets [Line Items] |  |  |
Revenues | 49,392 | 45,157 | 40,303
Long-lived assets | 531 | 748 |
Ireland |  |  |
Revenues from External Customers and Long-Lived Assets [Line Items] |  |  |
Revenues | 17,773 | 21,913 | 23,514
Long-lived assets | 167 | 787 |
All other countries |  |  |
Revenues from External Customers and Long-Lived Assets [Line Items] |  |  |
Revenues | 9,213 | 10,780 | 10,498
Long-lived assets | 277 | 72 |
Foreign countries |  |  |
Revenues from External Customers and Long-Lived Assets [Line Items] |  |  |
Revenues | 76,378 | 77,850 | $ 74,315
Long-lived assets | $ 975 | $ 1,607 |

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