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Revenue Recognition - Schedule of Disaggregation of Revenue by Product (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Disaggregation of Revenue [Line Items]    
Total revenue $ 138,090 $ 135,190
Software    
Disaggregation of Revenue [Line Items]    
Total revenue 112,267 109,265
Services    
Disaggregation of Revenue [Line Items]    
Total revenue $ 25,823 $ 25,925