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Stock-Based Compensation and 401(k) Plan - Summary of Stock-Based Compensation Expense by Operating Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | $ 4,885 | $ 5,453 | $ 9,725 | $ 10,494
Cost of Service Revenue [Member] |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | 557 | 438 | 1,030 | 781
Cost of Equipment Revenue [Member] |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | 432 | 351 | 811 | 638
Engineering, Design and Development [Member] |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | 1,084 | 908 | 2,066 | 1,662
Sales and Marketing [Member] |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | 1,178 | 983 | 2,175 | 1,721
General and Administrative [Member] |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | $ 1,634 | $ 2,773 | $ 3,643 | $ 5,692

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