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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 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Revenue, Major Customer [Line Items]        
Total revenues $ 21,128 $ 17,689 $ 42,729 $ 36,142
United States        
Revenue, Major Customer [Line Items]        
Total revenues 12,749 11,222 26,222 21,865
United Kingdom        
Revenue, Major Customer [Line Items]        
Total revenues 4,858 4,037 9,820 8,036
Germany        
Revenue, Major Customer [Line Items]        
Total revenues 1,738 957 3,233 3,209
Rest of the world        
Revenue, Major Customer [Line Items]        
Total revenues $ 1,783 $ 1,473 $ 3,454 $ 3,032