Geographic, Customer and Supplier Information - Sales details of customers locations in four geographic regions (Details) - USD ($) $ in Thousands	3 Months Ended								12 Months Ended
	Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Dec. 31, 2021	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Geographic, Customer and Supplier Information
Total revenue	$ 56,622	$ 57,147	$ 52,790	$ 52,447	$ 59,153	$ 52,276	$ 52,277	$ 50,775	$ 219,006	$ 214,481	$ 215,691
Gross margin	37,955	$ 38,431	$ 35,506	$ 36,678	37,467	$ 36,395	$ 34,831	$ 34,242	148,570	142,935	148,059
Long-lived assets	20,703				19,954				20,703	19,954	23,191
Operating Segments | Europe, Middle East, Africa (EMEA)
Geographic, Customer and Supplier Information
Total revenue									100,298	104,878	117,086
Gross margin									68,040	69,893	78,456
Long-lived assets	4,856				5,978				4,856	5,978	7,482
Operating Segments | Americas
Geographic, Customer and Supplier Information
Total revenue									77,740	68,646	53,171
Gross margin									52,738	45,747	37,532
Long-lived assets	15,270				13,634				15,270	13,634	14,968
Operating Segments | Asia Pacific
Geographic, Customer and Supplier Information
Total revenue									40,968	40,957	45,434
Gross margin									27,792	27,295	32,071
Long-lived assets	$ 577				$ 342				$ 577	$ 342	$ 741