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Stock-Based Compensation - Summary of consolidated statements of operations (Details) - 2019 Plan - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Stock Option Disclosures |  |  |
Total stock-based compensation expense | $ 15,591 | $ 10,919 | $ 8,470
Costs of goods sold |  |  |
Stock Option Disclosures |  |  |
Total stock-based compensation expense | 215 | 157 | 167
Sales and marketing |  |  |
Stock Option Disclosures |  |  |
Total stock-based compensation expense | 2,341 | 2,905 | 2,585
Research and development |  |  |
Stock Option Disclosures |  |  |
Total stock-based compensation expense | 2,640 | 1,923 | 1,376
General and administrative |  |  |
Stock Option Disclosures |  |  |
Total stock-based compensation expense | $ 10,395 | $ 5,934 | $ 4,341

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