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Stock-Based Compensation - Total stock-based compensation expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Stock-Based Compensation
Stock-based compensation expense	$ 5,976	$ 5,366	$ 16,960	$ 14,749
Cost of revenues
Stock-Based Compensation
Stock-based compensation expense	604	690	1,655	1,868
Selling, general and administrative
Stock-Based Compensation
Stock-based compensation expense	4,904	4,194	13,973	11,541
Engineering and development
Stock-Based Compensation
Stock-based compensation expense	$ 468	$ 482	$ 1,332	$ 1,340

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- Definition

Amount of noncash expense for share-based payment arrangement.

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