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CONDENSED CONSOLIDATED STATEMENTS OF OPERATIONS - USD ($)
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Income Statement [Abstract]        
Revenue $ 24,589,000 $ 20,688,000 $ 47,983,000 $ 40,178,000
Cost of revenue 12,538,000 9,556,000 24,963,000 19,237,000
Gross profit 12,051,000 11,132,000 23,020,000 20,941,000
Operating expenses:        
Research and development 9,925,000 8,400,000 20,458,000 16,341,000
Sales and marketing 9,875,000 8,369,000 20,434,000 16,398,000
General and administrative 6,165,000 5,182,000 12,842,000 10,710,000
Total operating expenses 25,965,000 21,951,000 53,734,000 43,449,000
Loss from operations (13,914,000) (10,819,000) (30,714,000) (22,508,000)
Investment income 519,000 120,000 1,129,000 195,000
Interest expense (942,000) (913,000) (1,865,000) (1,861,000)
Loss before provision for income taxes (14,337,000) (11,612,000) (31,450,000) (24,174,000)
Income tax benefit 0 (37,000) 0 (69,000)
Net loss $ (14,337,000) $ (11,575,000) $ (31,450,000) $ (24,105,000)
Net loss per share, basic (USD per share) $ (0.41) $ (0.37) $ (0.91) $ (0.78)
Net loss per share, diluted (USD per share) $ (0.41) $ (0.37) $ (0.91) $ (0.78)
Weighted average shares used in computing net loss per share, basic (in shares) 35,149,000 31,182,914 34,539,229 30,864,199
Weighted average shares used in computing net loss per share, diluted (in shares) 35,149,000 31,182,914 34,539,229 30,864,199