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, 2022
Dec. 31, 2021
Dec. 31, 2020
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance $ 370,227 $ 349,623 $ 344,621
Other comprehensive income (loss) (1,712) 994 562
Ending Balance 297,406 370,227 349,623
Foreign Currency Translation Adjustments      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance 328 1,128  
Other comprehensive income (loss) (597) (800)  
Ending Balance (269) 328 1,128
Unrealized Gains on Marketable Securities      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance 1    
Other comprehensive income (loss) 25 1  
Ending Balance 26 1  
Unrealized Gains (Losses) on Cash Flow Hedges      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance 1,140 (653)  
Other comprehensive income (loss) (1,140) 1,793  
Ending Balance   1,140 (653)
Accumulated other comprehensive income (loss)      
Accumulated Other Comprehensive Income Loss [Line Items]      
Beginning Balance 1,469 475 (87)
Other comprehensive income (loss) (1,712) 994 562
Ending Balance $ (243) $ 1,469 $ 475