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Stockholders' Equity (Deficit) - Summary of Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2023 | Mar. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Total stock-based compensation expense | $ 10,487 | $ 8,962
Cost of Revenue |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Total stock-based compensation expense | 1,176 | 862
Sales and Marketing |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Total stock-based compensation expense | 2,808 | 2,912
Research and Development |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Total stock-based compensation expense | 3,461 | 2,526
General and Administrative |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |
Total stock-based compensation expense | $ 3,042 | $ 2,662

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