Geographic Information and Customer Concentration- Information of the Company's Segments (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Segment Reporting Information [Line Items]
Revenue	$ 276,714	$ 262,347	$ 210,351
United States
Segment Reporting Information [Line Items]
Revenue	253,115	242,753	189,639
International
Segment Reporting Information [Line Items]
Revenue	$ 23,599	$ 19,594	$ 20,712

Amount, excluding tax collected from customer, of revenue from satisfaction of performance obligation by transferring promised good or service to customer. Tax collected from customer is tax assessed by governmental authority that is both imposed on and concurrent with specific revenue-producing transaction, including, but not limited to, sales, use, value added and excise.

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+ Details