Goodwill - Schedule of goodwill activity (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Goodwill [Roll Forward]
Net balance at beginning of period	$ 90,514,000	$ 96,174,000
Goodwill reallocation		0
Net foreign currency translation	2,570,000	(5,660,000)
Acquisition during the period	600,000
Net balance at end of period	93,684,000	90,514,000	$ 96,174,000
Goodwill impairment	0	0	0
Digital Agreements
Goodwill [Roll Forward]
Net balance at beginning of period	19,732,000	0
Goodwill reallocation		20,966,000
Net foreign currency translation	561,000	(1,234,000)
Acquisition during the period	600,000
Net balance at end of period	20,893,000	19,732,000	0
Security Solutions
Goodwill [Roll Forward]
Net balance at beginning of period	70,782,000	0
Goodwill reallocation		75,208,000
Net foreign currency translation	2,009,000	(4,426,000)
Acquisition during the period	0
Net balance at end of period	$ 72,791,000	$ 70,782,000	$ 0