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Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Deferred tax assets:      
Research and development expenses $ 7,550 $ 7,374 $ 1,436
Net operating loss 10,333 9,059 5,212
Deferred Compensation 6,762 5,214 1,009
Operating lease liabilities 5,565 6,456 0
Vacation and convalescence 746 730 799
Bad debts 84 78 93
Other 1,946 2,166 466
Gross deferred tax assets 32,986 31,077 9,015
Valuation allowance (23,783) (20,822) (8,699)
Total deferred tax assets 9,203 10,255 316
Deferred tax liabilities:      
Operating lease right-of-use assets (5,577) (6,387) 0
Deferred contract acquisition costs (2,971) (3,009) (2,324)
Property and equipment (109) (279) (283)
Capitalized Software (541) (591) (397)
Gross deferred tax liabilities (9,198) (10,266) (3,004)
Net deferred tax assets/(liabilities) 5    
Net deferred tax assets/(liabilities)   (11) (2,688)
Increase (decrease) in valuation allowance for deferred tax asset $ 3,000 $ 12,100 $ 4,400