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Segment and Geographic Information (Tables)
 12 Months Ended
Dec. 31, 2019
Segment Reporting [Abstract]  
Summary of Revenue by Geography
The following table summarizes revenue by geography for the years ended December 31, 2019, 2018 and 2017 (in thousands):
 
2019
 
2018
 
2017
Revenue by geography:
 
Domestic
$
97,162

 
$
99,901

 
$
95,722

International
32,797

 
31,317

 
26,813

Total
$
129,959

 
$
131,218

 
$
122,535