CONSOLIDATED STATEMENTS OF OPERATIONS - USD ($) shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Revenue
Total revenue	$ 235,106	$ 219,006	$ 214,481
Cost of goods sold
Total cost of goods sold	77,391	70,436	71,546
Gross profit	157,715	148,570	142,935
Operating costs
Sales and marketing	70,235	60,949	62,730
Research and development	38,420	41,735	47,414
General and administrative	58,267	55,552	53,031
Restructuring and other related charges	17,311	13,310	0
Amortization of intangible assets	2,353	4,139	5,888
Total operating costs	186,586	175,685	169,063
Operating loss	(28,871)	(27,115)	(26,128)
Interest income (expense), net	2,090	595	(1)
Other income (expense), net	(532)	14,827	(14)
Loss before income taxes	(27,313)	(11,693)	(26,143)
Provision for income taxes	2,486	2,741	4,441
Net loss	$ (29,799)	$ (14,434)	$ (30,584)
Net loss per share
Basic (in dollars per share)	$ (0.74)	$ (0.36)	$ (0.77)
Diluted (in dollars per share)	$ (0.74)	$ (0.36)	$ (0.77)
Weighted average common shares outstanding
Basic (in shares)	40,193	40,143	39,614
Diluted (in shares)	40,193	40,143	39,614
Product and license
Revenue
Total revenue	$ 130,848	$ 121,426	$ 120,358
Cost of goods sold
Total cost of goods sold	48,676	45,106	46,196
Services and other
Revenue
Total revenue	104,258	97,580	94,123
Cost of goods sold
Total cost of goods sold	$ 28,715	$ 25,330	$ 25,350