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Condensed Consolidated Statements of Changes in Stockholders’ Equity - USD ($) $ in Thousands | Total | Adjustment to opening retained earnings due to adoption of ASU 2020-06 | Class A voting common stock | Class B voting common stock | Common stock Class A voting common stock | Common stock Class B voting common stock | Additional paid-in capital | Additional paid-in capital Adjustment to opening retained earnings due to adoption of ASU 2020-06 | Accumulated other comprehensive income (loss) | Accumulated deficit | Accumulated deficit Adjustment to opening retained earnings due to adoption of ASU 2020-06
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Beginning balance (in shares) at Dec. 31, 2021 |  |  |  |  | 23,177,988 | 1,965,170 |  |  |  |  |
Beginning balance at Dec. 31, 2021 | $ 412,595 | $ (147,498) |  |  | $ 23 | $ 2 | $ 502,477 | $ (156,248) | $ (13,040) | $ (76,867) | $ 8,750
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |
Exercises of vested stock options (in shares) |  |  |  |  | 16,095 |  |  |  |  |  |
Exercises of vested stock options | 125 |  |  |  |  |  | 125 |  |  |  |
Vesting of restricted stock units (in shares) |  |  |  |  | 144,977 |  |  |  |  |  |
Equity awards withheld for tax liability (in shares) |  |  |  |  | (30,029) |  |  |  |  |  |
Equity awards withheld for tax liability | (1,751) |  |  |  |  |  | (1,751) |  |  |  |
Foreign currency translation | (10,516) |  |  |  |  |  |  |  | (10,516) |  |
Stock-based compensation | 5,346 |  |  |  |  |  | 5,346 |  |  |  |
Net loss | (6,814) |  |  |  |  |  |  |  |  | (6,814) |
Ending balance (in shares) at Mar. 31, 2022 |  |  |  |  | 23,309,031 | 1,965,170 |  |  |  |  |
Ending balance at Mar. 31, 2022 | 251,487 |  |  |  | $ 23 | $ 2 | 349,949 |  | (23,556) | (74,931) |
Beginning balance (in shares) at Dec. 31, 2021 |  |  |  |  | 23,177,988 | 1,965,170 |  |  |  |  |
Beginning balance at Dec. 31, 2021 | 412,595 | $ (147,498) |  |  | $ 23 | $ 2 | 502,477 | $ (156,248) | (13,040) | (76,867) | $ 8,750
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |
Net loss | (13,864) |  |  |  |  |  |  |  |  |  |
Ending balance (in shares) at Sep. 30, 2022 |  |  |  |  | 23,358,203 | 1,965,170 |  |  |  |  |
Ending balance at Sep. 30, 2022 | 194,596 |  |  |  | $ 23 | $ 2 | 359,465 |  | (82,913) | (81,981) |
Beginning balance (in shares) at Mar. 31, 2022 |  |  |  |  | 23,309,031 | 1,965,170 |  |  |  |  |
Beginning balance at Mar. 31, 2022 | 251,487 |  |  |  | $ 23 | $ 2 | 349,949 |  | (23,556) | (74,931) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |
Exercises of vested stock options (in shares) |  |  |  |  | 4,287 |  |  |  |  |  |
Exercises of vested stock options | 37 |  |  |  |  |  | 37 |  |  |  |
Vesting of restricted stock units (in shares) |  |  |  |  | 28,351 |  |  |  |  |  |
Equity awards withheld for tax liability (in shares) |  |  |  |  | (7,005) |  |  |  |  |  |
Equity awards withheld for tax liability | (145) |  |  |  |  |  | (145) |  |  |  |
Unrealized loss on marketable securities | (338) |  |  |  |  |  |  |  | (338) |  |
Foreign currency translation | (29,775) |  |  |  |  |  |  |  | (29,775) |  |
Stock-based compensation | 4,821 |  |  |  |  |  | 4,821 |  |  |  |
Net loss | (6,248) |  |  |  |  |  |  |  |  | (6,248) |
Ending balance (in shares) at Jun. 30, 2022 |  |  |  |  | 23,334,664 | 1,965,170 |  |  |  |  |
Ending balance at Jun. 30, 2022 | 219,839 |  |  |  | $ 23 | $ 2 | 354,662 |  | (53,669) | (81,179) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |
Vesting of restricted stock units (in shares) |  |  |  |  | 30,395 |  |  |  |  |  |
Equity awards withheld for tax liability (in shares) |  |  |  |  | (6,856) |  |  |  |  |  |
Equity awards withheld for tax liability | (89) |  |  |  |  |  | (89) |  |  |  |
Unrealized loss on marketable securities | 458 |  |  |  |  |  |  |  | 458 |  |
Foreign currency translation | (29,702) |  |  |  |  |  |  |  | (29,702) |  |
Stock-based compensation | 4,892 |  |  |  |  |  | 4,892 |  |  |  |
Net loss | (802) |  |  |  |  |  |  |  |  | (802) |
Ending balance (in shares) at Sep. 30, 2022 |  |  |  |  | 23,358,203 | 1,965,170 |  |  |  |  |
Ending balance at Sep. 30, 2022 | 194,596 |  |  |  | $ 23 | $ 2 | 359,465 |  | (82,913) | (81,981) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |
Exercises of vested stock options (in shares) |  |  |  |  | 86 |  |  |  |  |  |
Exercises of vested stock options | 1 |  |  |  |  |  | 1 |  |  |  |
Vesting of restricted stock units (in shares) |  |  |  |  | 27,511 |  |  |  |  |  |
Equity awards withheld for tax liability (in shares) |  |  |  |  | (6,800) |  |  |  |  |  |
Equity awards withheld for tax liability | (149) |  |  |  |  |  | (149) |  |  |  |
Unrealized loss on marketable securities | 194 |  |  |  |  |  |  |  | 194 |  |
Foreign currency translation | 38,138 |  |  |  |  |  |  |  | 38,138 |  |
Unrealized gain/loss on employee benefit pension plan | 367 |  |  |  |  |  |  |  | 367 |  |
Stock-based compensation | 5,596 |  |  |  |  |  | 5,596 |  |  |  |
Net loss | 33,434 |  |  |  |  |  |  |  |  | 33,434 |
Ending balance (in shares) at Dec. 31, 2022 |  |  | 23,379,000 | 1,965,170 | 23,379,000 | 1,965,170 |  |  |  |  |
Ending balance at Dec. 31, 2022 | 272,177 |  |  |  | $ 23 | $ 2 | 364,913 |  | (44,214) | (48,547) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |
Exercises of vested stock options (in shares) |  |  |  |  | 22,975 |  |  |  |  |  |
Exercises of vested stock options | 155 |  |  |  |  |  | 155 |  |  |  |
Vesting of restricted stock units (in shares) |  |  |  |  | 171,950 |  |  |  |  |  |
Vesting of restricted stock units | 1 |  |  |  | $ 1 |  |  |  |  |  |
Equity awards withheld for tax liability (in shares) |  |  |  |  | (43,325) |  |  |  |  |  |
Equity awards withheld for tax liability | (903) |  |  |  |  |  | (903) |  |  |  |
Unrealized loss on marketable securities | 72 |  |  |  |  |  |  |  | 72 |  |
Foreign currency translation | 7,647 |  |  |  |  |  |  |  | 7,647 |  |
Stock-based compensation | 6,649 |  |  |  |  |  | 6,649 |  |  |  |
Net loss | 3,611 |  |  |  |  |  |  |  |  | 3,611 |
Ending balance (in shares) at Mar. 31, 2023 |  |  |  |  | 23,530,600 | 1,965,170 |  |  |  |  |
Ending balance at Mar. 31, 2023 | 289,409 |  |  |  | $ 24 | $ 2 | 370,814 |  | (36,495) | (44,936) |
Beginning balance (in shares) at Dec. 31, 2022 |  |  | 23,379,000 | 1,965,170 | 23,379,000 | 1,965,170 |  |  |  |  |
Beginning balance at Dec. 31, 2022 | $ 272,177 |  |  |  | $ 23 | $ 2 | 364,913 |  | (44,214) | (48,547) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |
Exercises of vested stock options (in shares) | 61,349 |  |  |  |  |  |  |  |  |  |
Net loss | $ (5,409) |  |  |  |  |  |  |  |  |  |
Ending balance (in shares) at Sep. 30, 2023 |  |  | 23,682,801 | 1,958,028 | 23,682,801 | 1,958,028 |  |  |  |  |
Ending balance at Sep. 30, 2023 | 279,987 |  |  |  | $ 24 | $ 2 | 383,013 |  | (49,096) | (53,956) |
Beginning balance (in shares) at Mar. 31, 2023 |  |  |  |  | 23,530,600 | 1,965,170 |  |  |  |  |
Beginning balance at Mar. 31, 2023 | 289,409 |  |  |  | $ 24 | $ 2 | 370,814 |  | (36,495) | (44,936) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |
Exercises of vested stock options (in shares) |  |  |  |  | 38,374 |  |  |  |  |  |
Exercises of vested stock options | 259 |  |  |  |  |  | 259 |  |  |  |
Vesting of restricted stock units (in shares) |  |  |  |  | 58,084 |  |  |  |  |  |
Equity awards withheld for tax liability (in shares) |  |  |  |  | (2,289) |  |  |  |  |  |
Equity awards withheld for tax liability | (30) |  |  |  |  |  | (30) |  |  |  |
Unrealized loss on marketable securities | 54 |  |  |  |  |  |  |  | 54 |  |
Foreign currency translation | 234 |  |  |  |  |  |  |  | 234 |  |
Stock-based compensation | 5,866 |  |  |  |  |  | 5,866 |  |  |  |
Net loss | (3,890) |  |  |  |  |  |  |  |  | (3,890) |
Ending balance (in shares) at Jun. 30, 2023 |  |  |  |  | 23,624,769 | 1,965,170 |  |  |  |  |
Ending balance at Jun. 30, 2023 | 291,902 |  |  |  | $ 24 | $ 2 | 376,909 |  | (36,207) | (48,826) |
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |  |  |  |
Vesting of restricted stock units (in shares) |  |  |  |  | 51,132 |  |  |  |  |  |
Equity awards withheld for tax liability (in shares) |  |  |  |  | (242) |  |  |  |  |  |
Equity awards withheld for tax liability | (3) |  |  |  |  |  | (3) |  |  |  |
Shares converted (in shares) |  |  |  |  | 7,142 | (7,142) |  |  |  |  |
Unrealized loss on marketable securities | (129) |  |  |  |  |  |  |  | (129) |  |
Foreign currency translation | (12,760) |  |  |  |  |  |  |  | (12,760) |  |
Stock-based compensation | 6,107 |  |  |  |  |  | 6,107 |  |  |  |
Net loss | (5,130) |  |  |  |  |  |  |  |  | (5,130) |
Ending balance (in shares) at Sep. 30, 2023 |  |  | 23,682,801 | 1,958,028 | 23,682,801 | 1,958,028 |  |  |  |  |
Ending balance at Sep. 30, 2023 | $ 279,987 |  |  |  | $ 24 | $ 2 | $ 383,013 |  | $ (49,096) | $ (53,956) |

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