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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, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Revenue, Major Customer [Line Items]        
Total revenues $ 21,141 $ 21,128 $ 43,126 $ 42,729
United States        
Revenue, Major Customer [Line Items]        
Total revenues 12,805 12,749 25,576 26,222
United Kingdom        
Revenue, Major Customer [Line Items]        
Total revenues 4,855 4,858 10,370 9,820
Germany        
Revenue, Major Customer [Line Items]        
Total revenues 1,796 1,738 3,667 3,233
Rest of the world        
Revenue, Major Customer [Line Items]        
Total revenues $ 1,685 $ 1,783 $ 3,513 $ 3,454