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Stock-Based Compensation - Stock based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Stock-Based Compensation
Stock-based compensation expense	$ 4,997	$ 5,800	$ 10,453	$ 10,984
Cost of revenues
Stock-Based Compensation
Stock-based compensation expense	747	575	1,417	1,050
Selling, general and administrative
Stock-Based Compensation
Stock-based compensation expense	3,930	4,766	8,307	9,070
Engineering and development
Stock-Based Compensation
Stock-based compensation expense	$ 320	$ 459	$ 729	$ 864

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Amount of noncash expense for share-based payment arrangement.

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