CONSOLIDATED STATEMENTS OF OPERATIONS - USD ($) shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Net revenues:
Products	$ 417,413	$ 409,944	$ 360,466
Cost of revenues:
Total cost of revenues	142,975	144,140	132,146
Gross Profit, Total	274,438	265,804	228,320
Operating expenses:
Research and development	66,904	65,559	57,018
Marketing and selling	95,977	95,494	87,637
General and administrative	57,189	57,372	47,052
Restructuring costs, net	513	1,116	5,046
Total operating expenses	220,583	219,541	196,753
Operating income	53,855	46,263	31,567
Interest income	45	6	70
Interest expense	(9,395)	(7,155)	(20,071)
Other income (expense), net	832	4,841	868
(Loss) income before income taxes	45,337	43,955	12,434
Provision for (benefit from) income taxes	(9,904)	2,567	1,372
Net (loss) income	$ 55,241	$ 41,388	$ 11,062
Earnings Per Share, Basic	$ 1.24	$ 0.92	$ 0.25
Earnings Per Share, Diluted	$ 1.23	$ 0.89	$ 0.25
Weighted-average common shares outstanding - basic	44,531	45,101	43,822
Weighted-average common shares outstanding - diluted	44,856	46,303	44,878
Subscription services
Net revenues:
Products	$ 151,330	$ 108,443	$ 72,831
Cost of revenues:
Products	23,504	14,963	6,870
Maintenance services
Net revenues:
Products	109,845	122,411	124,175
Cost of revenues:
Products	19,913	22,981	21,651
Service
Net revenues:
Products	156,238	179,090	163,460
Cost of revenues:
Products	$ 99,558	$ 106,196	$ 103,625