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Stock-Based Compensation - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Stock-Based Compensation |  |  |
Stock-based compensation expense | $ 20,082 | $ 15,345 | $ 8,916
Cost of revenues |  |  |
Stock-Based Compensation |  |  |
Stock-based compensation expense | 1,459 | 1,620 | 371
Selling, general and administrative |  |  |
Stock-Based Compensation |  |  |
Stock-based compensation expense | 16,808 | 12,425 | 7,862
Engineering and development |  |  |
Stock-Based Compensation |  |  |
Stock-based compensation expense | $ 1,815 | $ 1,300 | $ 683

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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 https://asc.fasb.org/extlink&oid=126954810&loc=d3e3602-108585 + Details
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