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Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Stock-based compensation expense | $ 6,942 | $ 4,892 | $ 22,325 | $ 15,059
Cost of revenue |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Stock-based compensation expense | 182 | 93 | 578 | 283
Research and development |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Stock-based compensation expense | 2,822 | 1,767 | 9,278 | 5,298
Sales and marketing |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Stock-based compensation expense | 1,160 | 593 | 3,825 | 2,219
General and administrative |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |  |
Stock-based compensation expense | $ 2,778 | $ 2,439 | $ 8,644 | $ 7,259

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