Annual report pursuant to Section 13 and 15(d)

Goodwill and Other Identifiable Intangible Assets - Schedule of Amortization Expense for Intangible Assets (Details)

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Goodwill and Other Identifiable Intangible Assets - Schedule of Amortization Expense for Intangible Assets (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Finite Lived Intangible Assets [Line Items]      
Amortization expense for intangible assets $ 8,469 $ 8,775 $ 9,004
Research and Development Expense      
Finite Lived Intangible Assets [Line Items]      
Amortization expense for intangible assets 7,813 7,813 7,800
Sales and Marketing Expense      
Finite Lived Intangible Assets [Line Items]      
Amortization expense for intangible assets 116 181 204
General and Administrative Expense      
Finite Lived Intangible Assets [Line Items]      
Amortization expense for intangible assets $ 540 $ 781 $ 1,000