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Quarterly Financial Data (Details) - USD ($)
 3 Months Ended 12 Months Ended
Dec. 31, 2021
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Dec. 31, 2020
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Dec. 31, 2019
Sep. 30, 2019
Jun. 30, 2019
Mar. 31, 2019
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Total revenues $ 56,440,000 $ 56,693,000 $ 56,191,000 $ 53,284,000 $ 48,361,000 $ 11,172,000 $ 9,389,000 $ 9,774,000 $ 9,242,000 $ 9,583,000 $ 8,464,000 $ 6,653,000 $ 222,608,000 $ 78,696,000 $ 33,942,000
Gross margin 23,113,000 23,513,000 25,402,000 24,550,000 19,894,000 6,055,000 5,127,000 5,258,000 4,932,000 4,627,000 4,338,000 3,454,000 96,577,000 36,334,000 17,352,000
Loss from operations (8,362,000) (4,576,000) (3,748,000) (1,142,000) (9,847,000) (10,732,000) (5,845,000) (3,586,000) (878,000) (12,352,000) (2,304,000) (2,141,000) (17,829,000) (30,010,000) (17,675,000)
Net loss attributable to common shareholders $ (262,086,000) $ (8,526,000) $ (7,389,000) $ (5,723,000) $ (53,866,000) $ (11,418,000) $ (5,803,000) $ (3,943,000) $ (948,000) $ (12,469,000) $ (2,528,000) $ (2,387,000) (283,724,000) (75,029,000) (18,332,000)
Net loss per share attributable to common stockholders - basic and diluted $ (5.46) $ (0.18) $ (0.16) $ (0.13) $ (1.32) $ (0.29) $ (0.15) $ (0.11) $ (0.03) $ (0.35) $ (0.08) $ (0.08)      
Accelerated stock-based compensation expense                   $ 1,227,890       0 9,562,000
Stock-based compensation expense                         $ 15,345,000 $ 8,916,000 6,962,000
General and administrative expense.                              
Stock-based compensation expense                 $ 765,099            
Cost of revenues                              
Accelerated stock-based compensation expense                             400,000
Selling, general and administrative                              
Accelerated stock-based compensation expense                             8,400,000
Engineering and development                              
Accelerated stock-based compensation expense                             $ 900,000