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Goodwill and Intangible Assets - Amortization Expense (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Goodwill [Line Items]        
Total amortization expense $ 4,348 $ 4,118 $ 12,960 $ 13,018
Cost of revenue        
Goodwill [Line Items]        
Total amortization expense 1,959 1,831 5,863 5,797
Sales and marketing        
Goodwill [Line Items]        
Total amortization expense $ 2,389 $ 2,287 $ 7,097 $ 7,221