Annual report pursuant to Section 13 and 15(d)

Summary of Significant Accounting Policies - Summary of Components of Accumulated Other Comprehensive Income (Loss) (Details)

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Summary of Significant Accounting Policies - Summary of Components of Accumulated Other Comprehensive Income (Loss) (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance $ 349,623 $ 344,621 $ 310,424
Other comprehensive income (loss) 994 562 (811)
Ending Balance 370,227 349,623 344,621
Foreign Currency Translation Adjustments      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance 1,128 271  
Other comprehensive income (loss) (800) 857  
Ending Balance 328 1,128 271
Unrealized Gains (Losses) on Marketable Securities      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance   6  
Other comprehensive income (loss) 1 (6)  
Ending Balance 1   6
Unrealized Gains (Losses) on Cash Flow Hedges      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance (653) (364)  
Other comprehensive income (loss) 1,793 (289)  
Ending Balance 1,140 (653) (364)
Accumulated other comprehensive income (loss)      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance 475 (87) 724
Other comprehensive income (loss) 994 562 (811)
Ending Balance $ 1,469 $ 475 $ (87)