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Stock-Based Compensation - Schedule of Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2024 | Sep. 30, 2023 | Sep. 30, 2024 | Sep. 30, 2023 | Dec. 31, 2023
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |
Stock-based compensation expense | $ 16,097 | $ 18,504 | $ 57,856 | $ 56,092 |
Stock-based compensation expense accrued | 1,878 |  | 1,878 |  | $ 4,043
Research and development |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |
Stock-based compensation expense | 5,018 | 4,977 | 14,981 | 14,687 |
Selling and marketing |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |
Stock-based compensation expense | 3,305 | 3,244 | 9,625 | 9,057 |
General and administrative |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |
Stock-based compensation expense | 6,549 | 8,358 | 30,025 | 26,543 |
Subscriptions and licenses | Cost of revenues: |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |
Stock-based compensation expense | 520 | 1,254 | 882 | 3,420 |
Services | Cost of revenues: |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |
Stock-based compensation expense | 705 | 671 | 2,343 | 2,385 |
Restricted stock and RSUs expense |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |
Stock-based compensation expense | 14,375 | 13,988 | 44,052 | 41,441 |
Bonus Plan expense |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |
Stock-based compensation expense | 1,057 | 3,847 | 11,237 | 11,729 |
ESPP expense |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |
Stock-based compensation expense | 622 | 634 | 1,837 | 1,809 |
Stock grants expense |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |
Stock-based compensation expense | 0 | 0 | 600 | 600 |
Stock option expense |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |
Stock-based compensation expense | 0 | 0 | 0 | 343 |
DCP elective participant deferrals expense |  |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |  |
Stock-based compensation expense | $ 43 | $ 35 | $ 130 | $ 170 |

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