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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