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Segment Disclosure - Financial Information (Details)
$ in Thousands
3 Months Ended 12 Months Ended
Dec. 31, 2022
USD ($)
Sep. 30, 2022
USD ($)
Jun. 30, 2022
USD ($)
Mar. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Sep. 30, 2021
USD ($)
Jun. 30, 2021
USD ($)
Mar. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Sep. 30, 2020
USD ($)
Jun. 30, 2020
USD ($)
Mar. 31, 2020
USD ($)
Dec. 31, 2022
USD ($)
segment
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Segment Reporting [Abstract]                              
Number of operating segments | segment                         3    
Financial information by segment                              
Revenue $ 168,218 $ 178,462 $ 179,031 $ 161,662 $ 171,163 $ 174,556 $ 177,677 $ 153,735 $ 160,777 $ 147,894 $ 124,435 $ 159,465 $ 687,373 $ 677,131 $ 592,571
Gross profit 50,939 53,784 53,558 39,892 49,594 52,216 55,336 40,001 49,345 47,384 41,158 40,644 198,173 197,147 178,531
Income (loss) from operations 5,802 $ 9,114 $ 9,576 $ (4,698) 2,306 $ 9,236 $ 11,374 $ (4,746) $ 4,652 $ 5,742 $ (383) $ (111,228) 19,799 18,170 (101,217)
Depreciation and amortization                         33,294 34,921 35,705
Intangible assets, net 49,015       59,381               49,015 59,381  
Total assets 534,904       562,195               534,904 562,195  
Operating segments | Services                              
Financial information by segment                              
Revenue                         573,336 555,387 476,164
Gross profit                         159,049 155,384 141,084
Income (loss) from operations                         49,616 48,458 (44,222)
Depreciation and amortization                         25,103 25,259 26,093
Intangible assets, net 43,260       51,862               43,260 51,862  
Total assets 407,779       424,058               407,779 424,058  
Operating segments | International                              
Financial information by segment                              
Revenue                         112,425 117,245 107,556
Gross profit                         33,591 34,282 31,046
Income (loss) from operations                         3,566 1,839 (21,855)
Depreciation and amortization                         7,648 8,791 8,659
Intangible assets, net 4,422       6,344               4,422 6,344  
Total assets 104,531       111,619               104,531 111,619  
Operating segments | Products and Systems                              
Financial information by segment                              
Revenue                         12,727 13,831 16,449
Gross profit                         5,490 7,001 6,826
Income (loss) from operations                         (992) (117) (936)
Depreciation and amortization                         810 928 998
Intangible assets, net 1,208       1,042               1,208 1,042  
Total assets 12,408       10,532               12,408 10,532  
Corporate and eliminations                              
Financial information by segment                              
Revenue                         (11,115) (9,332) (7,598)
Gross profit                         43 480 (425)
Income (loss) from operations                         (32,391) (32,010) (34,204)
Depreciation and amortization                         (267) (57) $ (45)
Intangible assets, net 125       133               125 133  
Total assets $ 10,186       $ 15,986               $ 10,186 $ 15,986