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Revenue, Concentrations and Geographic Information (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Revenue, Concentrations and Geographic Information
Accounts receivable, allowance for credit loss	$ 1,207		$ 1,207		$ 1,275
Total revenues	56,157	$ 60,464	175,995	$ 176,919
Contract liabilities	1,600		1,600		$ 400
Contract with customer liability on revenue recognized	1,000	300	1,900	800
Foreign Customers
Revenue, Concentrations and Geographic Information
Total revenues	$ 24,600	$ 26,300	$ 79,600	$ 79,900
Sales Revenue, Net | Foreign Customers | Customer Concentration Risk
Revenue, Concentrations and Geographic Information
Concentration risk, percentage	43.80%	43.40%	45.30%	45.20%

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