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Stock-Based Compensation - Cost related to company's stock-based compensation plan (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation expense | $ 8,146 | $ 2,188 | $ 27,941 | $ 4,961
Total stock-based compensation | 9,286 | 2,368 | 30,981 | 5,399
Software Development |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Share-based compensation expense, amount capitalized | 476 | 56 | 1,149 | 181
Inventories |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Share-based compensation expense, amount capitalized | 664 | 124 | 1,891 | 257
Total cost of revenue |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation expense | 76 | 9 | 180 | 27
Connected machines |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation expense | 10 | 2 | 26 | 5
Subscriptions |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation expense | 66 | 7 | 154 | 22
Accessories and materials |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation expense | 0 | 0 | 0 | 0
Research and development |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation expense | 3,590 | 716 | 10,999 | 1,984
Sales and marketing |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation expense | 2,777 | 1,166 | 10,809 | 2,278
General and administrative |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation expense | $ 1,703 | $ 297 | $ 5,953 | $ 672

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