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Summary of Significant Accounting Policies - Disaggregation Our Geographical Revenues by Origin (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Summary of Significant Accounting Policies      
Total revenues $ 233,255 $ 237,277 $ 222,608
Americas      
Summary of Significant Accounting Policies      
Total revenues 127,213 128,209 120,270
Europe, the Middle East, and Africa (EMEA)      
Summary of Significant Accounting Policies      
Total revenues 60,883 66,913 59,334
Asia Pacific (APAC)      
Summary of Significant Accounting Policies      
Total revenues $ 45,159 $ 42,155 $ 43,004