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Segment Reporting and Significant Customer Information - Revenue for Individual Countries that Exceed 10% of Total Revenue (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Revenue, Major Customer [Line Items]    
Total revenues $ 21,601 $ 18,453
United States    
Revenue, Major Customer [Line Items]    
Total revenues 13,473 10,638
United Kingdom    
Revenue, Major Customer [Line Items]    
Total revenues 4,962 3,999
Germany    
Revenue, Major Customer [Line Items]    
Total revenues 1,495 2,252
Rest of the world    
Revenue, Major Customer [Line Items]    
Total revenues $ 1,671 $ 1,564