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Revenue, Concentrations and Geographic Information (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023	Dec. 31, 2022
Revenue, Concentrations and Geographic Information
Accounts receivable, allowance for credit loss	$ 2,240		$ 1,992	$ 1,275
Total revenue	54,592	$ 62,817
Contract liabilities	1,800		$ 1,300
Contract with customer liability on revenue recognized	400	400
Foreign Customers
Revenue, Concentrations and Geographic Information
Total revenue	$ 24,700	$ 29,200
Sales Revenue, Net | Foreign Customers | Customer Concentration Risk
Revenue, Concentrations and Geographic Information
Concentration risk, percentage	45.20%	46.50%

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Amount of revenue recognized that was previously included in balance of obligation to transfer good or service to customer for which consideration from customer has been received or is due.

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