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Stock-based compensation (Tables) | 12 Months Ended
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Dec. 31, 2023
Share-Based Payment Arrangement [Abstract] |
Schedule of Service Vesting-Based Stock Option Activity | The following is a summary of service vesting-based stock option activity for the year ended December 31, 2023 and 2022, and the status of service vesting-based stock options outstanding as of December 31, 2023 and 2022:
| 2023 |  | 2022
| Shares |  | Wtd. Avg. Exercise Price |  | Shares |  | Wtd. Avg. Exercise Price
Outstanding as of beginning of year | 456,293 |  | $ | 2.17 |  |  | 624,531 |  | $ | 2.13 |
Exercised | (239,043) |  | 2.12 |  |  | (161,646) |  | 2.00 |
Expired | — |  |  | — |  |  | (6,592) |  | 3.22 |
Outstanding at end of year | 217,250 |  | $ | 2.21 |  |  | 456,293 |  | $ | 2.17 |
Stock options exercisable at year end | 217,250 |  | $ | 2.21 |  |  | 456,293 |  | $ | 2.17 |
Schedule of Share-Based Payment Arrangement, Option, Exercise Price Range | The following table summarizes information about service vesting-based stock options outstanding as of December 31, 2023:
Range of Exercise Prices |  | Number Outstanding at December 31, 2023 |  | Weighted Average Remaining Contractual Life |  | Weighted Average Exercise Price
$1.00 - 1.50 |  | 2,000 |  | 2.85 |  | $ | 1.49 |
$1.51 - 2.00 |  | 116,500 |  | 2.32 |  | 1.89 |
$2.01 - 2.50 |  | 84,500 |  | 1.36 |  | 2.07 |
$2.51 - 8.60 |  | 14,250 |  | 3.92 |  | 5.69 |
|  | 217,250 |  | 2.06 |  | $ | 2.21 |
Schedule of Share-Based Payment Arrangement, Restricted Stock and Restricted Stock Unit, Activity | The following is a summary of service vesting-based restricted stock activity for the years ended December 31, 2023 and 2022, and the status of unvested service vesting-based restricted stock outstanding as of December 31, 2023 and 2022:
| 2023 |  | 2022
| Shares |  | Wtd. Avg. Grant Date Fair Value |  | Shares |  | Wtd. Avg. Grant Date Fair Value
Outstanding as of beginning of year | 1,879,215 |  | $ | 28.94 |  |  | 1,212,783 |  | $ | 37.48 |
Granted | 1,907,101 |  | 13.12 |  |  | 1,373,909 |  | 25.26 |
Vested | (1,237,221) |  | 24.97 |  |  | (569,535) |  | 35.51 |
Forfeited | (236,197) |  | 25.88 |  |  | (137,942) |  | 40.19 |
Non-vested at year end | 2,312,898 |  | $ | 18.32 |  |  | 1,879,215 |  | $ | 28.94 |
The following is a summary of market-based restricted stock activity under our stock option plan for the years ended December 31, 2023 and 2022 and the status of market-based restricted stock outstanding as of December 31, 2023 and 2022:
| 2023 |  | 2022
| Shares |  | Wtd. Avg. Grant Date Fair Value |  | Shares |  | Wtd. Avg. Grant Date Fair Value
Outstanding as of beginning of year | 271,044 |  | $ | 30.64 |  |  | 139,756 |  | $ | 19.86 |
Granted | 268,738 |  | 24.23 |  |  | 349,568 |  | 22.66 |
Vested | (30,616) |  | 51.65 |  |  | (218,280) |  | 10.95 |
Non-vested at year end | 509,166 |  | $ | 26.00 |  |  | 271,044 |  | $ | 30.64 |
Schedule of Share-Based Payment Arrangement, Expensed and Capitalized, Amount | We recorded total stock compensation expense for the years ended December 31, 2023, 2022, and 2021, as follows:
| 2023 |  | 2022 |  | 2021
Research and development costs | $ | 5,631 |  |  | $ | 3,176 |  |  | $ | 1,906 |
Sales and marketing costs | 5,620 |  |  | 3,649 |  |  | 1,788 |
General and administrative costs | 14,937 |  |  | 14,066 |  |  | 8,061 |
Cost of revenue | 5,482 |  |  | 4,443 |  |  | 2,201 |
Total | $ | 31,670 |  |  | $ | 25,334 |  |  | $ | 13,956 |

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- Definition Tabular disclosure of option exercise prices, by grouped ranges, including the upper and lower limits of the price range, the number of shares under option, weighted average exercise price and remaining contractual option terms. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Disclosure of the number and weighted-average grant date fair value for restricted stock and restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock and restricted stock units that were granted, vested, or forfeited during the year. + References No definition available. + Details
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