Quarterly report pursuant to Section 13 or 15(d)

Revenue, Accounts Receivable and Significant Customers - Narrative (Details)

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Revenue, Accounts Receivable and Significant Customers - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Revenue From Contract With Customer, Accounts Receivable, And Concentration Risk [Line Items]      
Revenue contracts, initial term 1 year    
Sales commissions, amortization $ 137 $ 157  
Sales commissions, unamortized, current 503   $ 494
Sales commissions, unamortized, noncurrent $ 126   $ 153
Minimum      
Revenue From Contract With Customer, Accounts Receivable, And Concentration Risk [Line Items]      
Sales commissions, amortization period 12 months    
Maximum      
Revenue From Contract With Customer, Accounts Receivable, And Concentration Risk [Line Items]      
Sales commissions, amortization period 24 months