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Segment Information - Schedule of geographic information (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Geographic information |  |  |
Revenue | $ 53,505 | $ 47,300 | $ 40,760
United States |  |  |
Geographic information |  |  |
Revenue | 24,992 | 24,291 | 20,173
Japan |  |  |
Geographic information |  |  |
Revenue | 4,301 | 4,717 | 4,520
France |  |  |
Geographic information |  |  |
Revenue | 4,170 | 3,431 | 3,206
Others |  |  |
Geographic information |  |  |
Revenue | $ 20,042 | $ 14,861 | $ 12,861

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