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Revenue (Tables)
 12 Months Ended
Dec. 31, 2023
Revenue from Contract with Customer [Abstract]  
Schedule of Receivables, Contract Assets and Contract Liabilities
Accounts receivable, contract asset and contract liability balances as of December 31, 2023, 2022 and 2021 were as follows:
December 31,
(in thousands)202320222021
Accounts receivable, net of reserves
$101,497 $93,886 $106,540 
Contract assets(1)
12,147 677 184 
Contract liabilities(2)
40,075 38,349 45,552 
(1) Includes amounts reported in Prepaid expenses and other current assets and Other assets on the balance sheet, inclusive of $5,422 as of December 31, 2023 that is related to a long-term contract and is billable upon attainment of milestones.
(2) Includes amounts reported in Other liabilities on the balance sheet.
Schedule of Revenue by Geographic Region
Revenue by geographic region for the years ended December 31, 2023, 2022, and 2021, which is determined based upon the geographic region in which a sale originates, was as follows:
Year Ended December 31,
(in thousands)202320222021
Americas$282,742 $308,516 $344,619 
EMEA164,673 167,114 201,684 
APAC40,654 62,401 69,336 
Total$488,069 $538,031 $615,639 
United States (included in Americas above)$278,268 $304,503 $341,123 
Germany (included in EMEA above)
$76,995 $80,108 $78,218