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Stock-Based Compensation (Tables) | 9 Months Ended
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Sep. 30, 2023
Share-Based Payment Arrangement [Abstract] |
Stock-Based Compensation Expense | Stock-based compensation expense was as follows (in thousands):
|  | Three Months Ended |  |  | Nine Months Ended |
|  | September 30, |  |  | September 30, |
|  | 2023 |  |  | 2022 |  |  | 2023 |  |  | 2022 |
Cost of revenues |  | $ | 693 |  |  | $ | 479 |  |  | $ | 1,749 |  |  | $ | 1,161 |
Selling, general and administrative |  |  | 1,788 |  |  |  | 1,537 |  |  |  | 4,934 |  |  |  | 4,184 |
Research and development |  |  | 977 |  |  |  | 813 |  |  |  | 2,604 |  |  |  | 2,100 |
Total stock-based compensation |  | $ | 3,458 |  |  | $ | 2,829 |  |  | $ | 9,287 |  |  | $ | 7,445 |
Summary of Compensation Expenses by Type of Award | Compensation expense by type of award was as follows (in thousands):
|  | Three Months Ended |  |  | Nine Months Ended |
|  | September 30, |  |  | September 30, |
|  | 2023 |  |  | 2022 |  |  | 2023 |  |  | 2022 |
Stock options |  | $ | 3,161 |  |  | $ | 2,531 |  |  | $ | 8,358 |  |  | $ | 6,641 |
ESPP |  |  | 297 |  |  |  | 298 |  |  |  | 929 |  |  |  | 804 |
Total stock-based compensation |  | $ | 3,458 |  |  | $ | 2,829 |  |  | $ | 9,287 |  |  | $ | 7,445 |

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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (e) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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