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Stockholders' Equity - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands |  |  | 3 Months Ended
--- | --- | --- | ---
Jan. 01, 2021 | Jan. 01, 2020 | Mar. 31, 2021 | Mar. 31, 2020
Stock-based compensation |  |  |  |
Compensation expense |  |  | $ 2,457 | $ 2,728
Cost of revenue. |  |  |  |
Stock-based compensation |  |  |  |
Compensation expense |  |  | 111 | 82
Sales and marketing |  |  |  |
Stock-based compensation |  |  |  |
Compensation expense |  |  | 978 | 1,246
Research and development |  |  |  |
Stock-based compensation |  |  |  |
Compensation expense |  |  | 97 | 88
Reimbursement, general and administrative |  |  |  |
Stock-based compensation |  |  |  |
Compensation expense |  |  | $ 1,271 | 1,312
2016 Plan |  |  |  |
Stock-based compensation |  |  |  |
Shares available for future issuance |  |  | 6,345,847 |
Automatic annual increase to the number of shares reserved and available for issuance as a percentage of outstanding common stock (as a percent) |  |  | 5.00% |
Automatic annual increase to the number of shares reserved and available for issuance |  |  | 2,500,000 |
Increase in number of shares reserved and available for issuance | 972,591 | 952,697 |  |
Common stock options |  |  |  |
Stock-based compensation |  |  |  |
Compensation expense |  |  | $ 1,200 | $ 900
Unrecognized stock-based compensation |  |  |  |
Unrecognized stock-based compensation expense, period for recognition |  |  | 2 years 1 month 6 days |

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