Employee Benefit Plans and Stock-based Compensation - Stock-Based Compensation (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Employee Service Share-based Compensation, Allocation of Recognized Period Costs
Net effect on net income	$ 4,006	$ 4,519	$ 2,623
Shares used in computing basic net income (loss) per share	42,104	41,367	40,152
Shares used in computing diluted net income (loss) per share	42,715	42,720	41,025
Effect on basic net income (loss) per share	$ 0.10	$ 0.11	$ 0.07
Effect on diluted net income (loss) per share	$ 0.09	$ 0.11	$ 0.06
Cost of Revenue
Employee Service Share-based Compensation, Allocation of Recognized Period Costs
Net effect on net income	$ 379	$ 368	$ 116
Selling, General and Administrative
Employee Service Share-based Compensation, Allocation of Recognized Period Costs
Net effect on net income	2,947	3,514	2,000
Research and Development
Employee Service Share-based Compensation, Allocation of Recognized Period Costs
Net effect on net income	$ 680	$ 637	$ 507