Acquisitions - Assets acquired and liabilities assumed (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Apr. 18, 2023	Dec. 31, 2022	Dec. 23, 2022	Dec. 31, 2021	May 29, 2021
Business Acquisition [Line Items]
Goodwill	$ 53,868		$ 45,514		$ 35,958
NextSphere Technologies Inc
Business Acquisition [Line Items]
Current assets		$ 9,708
Property, plant and equipment		192
Intangible assets		9,906
Goodwill		9,031
Other noncurrent assets		511
Total assets acquired		29,348
Accounts payable and accrued expenses		(1,990)
Deferred taxes		(2,427)
Total liabilities assumed		(4,417)
Purchase price allocation		$ 24,931
Mutual Mobile Inc.
Business Acquisition [Line Items]
Current assets				$ 4,982
Property, plant and equipment				132
Intangible assets				3,749
Goodwill				8,879
Other noncurrent assets				102
Total assets acquired				17,844
Accounts payable and accrued expenses				(1,576)
Deferred taxes				(686)
Total liabilities assumed				(2,262)
Purchase price allocation				$ 15,582
Tacit
Business Acquisition [Line Items]
Current assets						$ 9,145
Property, plant and equipment						466
Intangible assets						12,913
Goodwill						21,268
Other noncurrent assets						0
Total assets acquired						43,792
Accounts payable and accrued expenses						(3,675)
Deferred taxes						(2,500)
Total liabilities assumed						(6,175)
Purchase price allocation						$ 37,617