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, 2023	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Quarterly Financial Information Disclosure [Abstract]
Revenue	$ 62,928	$ 58,838	$ 55,733	$ 57,607	$ 56,622	$ 57,147	$ 52,790	$ 52,447	$ 235,106	$ 219,006	$ 214,481
Gross profit	43,466	40,669	34,294	39,286	37,955	38,431	35,506	36,678	157,715	148,570	142,935
Operating costs	41,649	45,463	52,058	47,416	41,964	44,056	43,744	45,921	186,586	175,685	169,063
Operating income (loss)	1,817	(4,794)	(17,764)	(8,130)	(4,009)	(5,625)	(8,238)	(9,243)	(28,871)	(27,115)	(26,128)
Provision (benefit) for income taxes	917	279	601	689	496	600	472	1,173
Net income (loss)	$ 441	$ (4,133)	$ (17,751)	$ (8,356)	$ (3,097)	$ (7,201)	$ (9,350)	$ 5,214	$ (29,799)	$ (14,434)	$ (30,584)
Net income/(loss) per share:
Basic (in dollars per share)	$ 0.01	$ (0.10)	$ (0.44)	$ (0.21)	$ (0.08)	$ (0.18)	$ (0.23)	$ 0.13	$ (0.74)	$ (0.36)	$ (0.77)
Diluted (in dollars per share)	$ 0.01	$ (0.10)	$ (0.44)	$ (0.21)	$ (0.08)	$ (0.18)	$ (0.23)	$ 0.13	$ (0.74)	$ (0.36)	$ (0.77)