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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, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Stock-based compensation expense | $ 4,148 | $ 2,433 | $ 11,163 | $ 6,355
Cost of Revenues [Member] |  |  |  |
Stock-based compensation expense | 463 | 86 | 1,154 | 237
Selling, general and administrative |  |  |  |
Stock-based compensation expense | 3,322 | 2,143 | 9,050 | 5,141
Engineering and development |  |  |  |
Stock-based compensation expense | $ 363 | $ 204 | $ 959 | $ 977

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- Definition Amount of noncash expense for share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 28 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=123570139&loc=d3e3602-108585 + Details
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