Quarterly Results of Operations (unaudited) - Schedule of quarterly results of operations (Details) - USD ($) $ / shares in Units, $ 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
Revision of Previously Issued Financial Statements
Total revenues	$ 56,622	$ 57,147	$ 52,790	$ 52,447	$ 59,153	$ 52,276	$ 52,277	$ 50,775	$ 219,006	$ 214,481	$ 215,691
Gross profit	37,955	38,431	35,506	36,678	37,467	36,395	34,831	34,242	148,570	142,935	148,059
Operating costs	41,964	44,056	43,744	45,921	43,426	38,411	43,690	43,536	175,685	169,063	153,317
Operating income (loss)	(4,009)	(5,625)	(8,238)	(9,243)	(5,959)	(2,016)	(8,859)	(9,294)	(27,115)	(26,128)	(5,258)
Provision (benefit) for income taxes	496	600	472	1,173	6,847	(762)	(1,143)	(501)
Net income (loss)	$ (3,097)	$ (7,201)	$ (9,350)	$ 5,214	$ (13,773)	$ (975)	$ (6,685)	$ (9,151)	$ (14,434)	$ (30,584)	$ (5,455)
Net income/(loss) per share:
Basic (in dollars per share)	$ (0.08)	$ (0.18)	$ (0.23)	$ 0.13	$ (0.36)	$ (0.02)	$ (0.17)	$ 0.23	$ (0.36)	$ (0.77)	$ (0.14)
Diluted (in dollars per share)	$ (0.08)	$ (0.18)	$ (0.23)	$ 0.13	$ (0.36)	$ (0.02)	$ (0.17)	$ 0.23	$ (0.36)	$ (0.77)	$ (0.14)
Product and license
Revision of Previously Issued Financial Statements
Total revenues									$ 121,426	$ 120,358	$ 132,986