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Stockholders' Equity - Schedule of Stock-based Compensation Expense Amounts Included in Condensed Consolidated Statement of Operations (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2023 | Mar. 31, 2022
Additional Paid-in Capital |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 19,136 | $ 15,237
Equity Based Awards |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | 17,613 | 13,748
Equity Based Awards | Additional Paid-in Capital |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | 17,613 | 13,748
Equity Based Awards | Cost of Revenue |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | 628 | 638
Equity Based Awards | Selling, General and Administrative |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | 9,480 | 7,736
Equity Based Awards | Research and Development |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | 7,505 | 5,374
Liability Based Awards to be Settled in Equity |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | 923 | 532
Liability Based Awards to be Settled in Equity | Cost of Revenue |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | 11 | 19
Liability Based Awards to be Settled in Equity | Selling, General and Administrative |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | 386 | 293
Liability Based Awards to be Settled in Equity | Research and Development |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | 526 | 220
Equity and Liability Based Awards |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | 18,536 | 14,280
Liability-based Awards | Additional Paid-in Capital |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 1,523 | $ 1,489

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