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Revenue, Concentrations and Geographic Information (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Dec. 31, 2022
Revenue, Concentrations and Geographic Information            
Total revenue $ 57,597 $ 57,021 $ 112,189 $ 119,838    
Contract liabilities 1,300   1,300   $ 1,300  
Contract with customer liability on revenue recognized 200 500 600 900    
Accounts receivable, allowance for credit loss 2,082   2,082   $ 1,992 $ 1,275
Foreign Customers            
Revenue, Concentrations and Geographic Information            
Total revenue $ 24,500 $ 25,900 $ 49,200 $ 55,100    
Sales Revenue, Net | Foreign Customers | Customer Concentration Risk            
Revenue, Concentrations and Geographic Information            
Concentration risk, percentage 42.50% 45.30% 43.80% 45.90%