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Segment Disclosure - Financial Information (Details)
$ in Thousands
3 Months Ended 12 Months Ended
Dec. 31, 2023
USD ($)
Sep. 30, 2023
USD ($)
Jun. 30, 2023
USD ($)
Mar. 31, 2023
USD ($)
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, 2023
USD ($)
segment
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Financial information by segment                              
Number of operating segments | segment                         3    
Revenue $ 182,073 $ 179,354 $ 176,030 $ 168,016 $ 168,218 $ 178,462 $ 179,031 $ 161,662 $ 171,163 $ 174,556 $ 177,677 $ 153,735 $ 705,473 $ 687,373 $ 677,131
Gross profit 53,627 54,382 49,722 46,077 50,939 53,784 53,558 39,892 49,594 52,216 55,336 40,001 203,807 198,173 197,147
Income (loss) from operations 706 $ (4,682) $ 3,893 $ (1,830) 5,802 $ 9,114 $ 9,576 $ (4,698) $ 2,306 $ 9,236 $ 11,374 $ (4,746) (1,904) 19,799 18,170
Depreciation and amortization                         34,099 33,294 34,921
Intangible assets, net 43,994       49,015               43,994 49,015  
Total assets 534,776       534,904               534,776 534,904  
Operating segments | North America                              
Financial information by segment                              
Revenue                         579,330 573,336 555,387
Gross profit                         163,960 159,049 155,384
Income (loss) from operations                         55,170 49,616 48,458
Depreciation and amortization                         25,774 25,103 25,259
Intangible assets, net 37,622       43,260               37,622 43,260  
Total assets 402,782       407,779               402,782 407,779  
Operating segments | International                              
Financial information by segment                              
Revenue                         124,414 112,425 117,245
Gross profit                         33,610 33,591 34,282
Income (loss) from operations                         (12,229) 3,566 1,839
Depreciation and amortization                         7,580 7,648 8,791
Intangible assets, net 2,998       4,422               2,998 4,422  
Total assets 99,398       104,531               99,398 104,531  
Operating segments | Products and Systems                              
Financial information by segment                              
Revenue                         12,986 12,727 13,831
Gross profit                         6,457 5,490 7,001
Income (loss) from operations                         267 (992) (117)
Depreciation and amortization                         712 810 928
Intangible assets, net 1,168       1,208               1,168 1,208  
Total assets 13,259       12,408               13,259 12,408  
Corporate and eliminations                              
Financial information by segment                              
Revenue                         (11,257) (11,115) (9,332)
Gross profit                         (220) 43 480
Income (loss) from operations                         (45,112) (32,391) (32,010)
Depreciation and amortization                         33 (267) $ (57)
Intangible assets, net 2,206       125               2,206 125  
Total assets $ 19,337       $ 10,186               $ 19,337 $ 10,186