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Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Stock-based compensation expense | $ 45,508 | $ 33,399 | $ 27,574
Stock options |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Stock-based compensation expense | 1,947 | 1,903 | 2,057
PSUs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Stock-based compensation expense | 11,886 | 7,509 | 6,417
RSUs & DSUs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Stock-based compensation expense | 26,185 | 19,282 | 15,388
RSAs |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Stock-based compensation expense | 472 | 437 | 434
ESPP |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Stock-based compensation expense | 2,488 | 2,144 | 1,391
401(k) stock match |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Stock-based compensation expense | 2,530 | 2,124 | 1,887
Cost of revenues |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Stock-based compensation expense | 10,169 | 8,684 | 6,760
Sales and marketing |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Stock-based compensation expense | 9,774 | 7,590 | 6,248
Research and development |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Stock-based compensation expense | 7,200 | 5,634 | 4,384
General and administrative |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Stock-based compensation expense | $ 18,365 | $ 11,491 | $ 10,182

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