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Revenue, Concentrations and Geographic Information - Disaggregation our geographical revenues by origin (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Summary of Significant Accounting Policies        
Total revenues $ 56,157 $ 60,464 $ 175,995 $ 176,919
Americas        
Summary of Significant Accounting Policies        
Total revenues 31,570 34,211 96,351 96,982
Europe, the Middle East and Africa (EMEA)        
Summary of Significant Accounting Policies        
Total revenues 14,236 16,000 47,507 49,041
Asia Pacific (APAC)        
Summary of Significant Accounting Policies        
Total revenues $ 10,351 $ 10,253 $ 32,137 $ 30,896