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, 2024	Mar. 31, 2023
Revenue, Major Customer [Line Items]
Total revenues	$ 21,985	$ 21,601
United States
Revenue, Major Customer [Line Items]
Total revenues	12,771	13,473
United Kingdom
Revenue, Major Customer [Line Items]
Total revenues	5,515	4,962
Germany
Revenue, Major Customer [Line Items]
Total revenues	1,871	1,495
Rest of the world
Revenue, Major Customer [Line Items]
Total revenues	$ 1,828	$ 1,671