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Quarterly Financial Data (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 12 Months Ended
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
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, 2022
Dec. 31, 2021
Dec. 31, 2020
Quarterly Financial Data                              
Total revenues $ 60,358 $ 60,464 $ 64,153 $ 52,302 $ 56,440 $ 56,693 $ 56,191 $ 53,284 $ 48,361 $ 11,172 $ 9,389 $ 9,774 $ 237,277 $ 222,608 $ 78,696
Gross margin 26,277 26,417 28,838 22,341 23,113 23,513 25,402 24,550 19,894 6,055 5,127 5,258 103,873 96,577 36,334
Loss from operations (11,035) (7,803) (5,247) (7,819) (8,362) (4,576) (3,748) (1,142) (9,847) (10,732) (5,845) (3,586) (31,904) (17,829) (30,010)
Net loss attributable to common shareholders $ (11,436) $ (7,316) $ (11,177) $ (15,404) $ (262,086) $ (8,526) $ (7,389) $ (5,723) $ (53,866) $ (11,418) $ (5,803) $ (3,943) $ (45,333) $ (283,724) $ (75,029)
Net loss per share attributable to common stockholders - basic $ (0.24) $ (0.15) $ (0.23) $ (0.31) $ (5.46) $ (0.18) $ (0.16) $ (0.13) $ (1.32) $ (0.29) $ (0.15) $ (0.11) $ (0.93) $ (6.18) $ (1.94)
Net loss per share attributable to common stockholders - diluted $ (0.24) $ (0.15) $ (0.23) $ (0.31) $ (5.46) $ (0.18) $ (0.16) $ (0.13) $ (1.32) $ (0.29) $ (0.15) $ (0.11) $ (0.93) $ (6.18) $ (1.94)