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Stock-Based Compensation - Stock based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock-Based Compensation
Stock-based compensation expense	$ 22,808	$ 20,082	$ 15,345
Cost of revenues
Stock-Based Compensation
Stock-based compensation expense	2,216	1,459	1,620
Selling, general and administrative
Stock-Based Compensation
Stock-based compensation expense	18,805	16,808	12,425
Engineering and development
Stock-Based Compensation
Stock-based compensation expense	$ 1,787	$ 1,815	$ 1,300

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Amount of noncash expense for share-based payment arrangement.

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