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Goodwill and Intangible Assets - Schedule of goodwill (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Goodwill    
Balance at beginning of year $ 151,117 $ 146,954
Foreign currency adjustment 499 (369)
Balance at end of year $ 151,616 146,591
CTSA and F-airGate    
Goodwill    
Goodwill related to CTSA and F-airGate acquisitions   $ 6