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Stockholders' Equity - Stock-Based Compensation (Details) - USD ($) $ in Thousands |  | 3 Months Ended | 6 Months Ended
--- | --- | --- | ---
Jan. 01, 2021 | Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021
Stock-based compensation |  |  |  |  |
Compensation expense |  | $ 2,892 | $ 2,658 | $ 5,121 | $ 5,115
Cost of revenue. |  |  |  |  |
Stock-based compensation |  |  |  |  |
Compensation expense |  | 112 | 173 | 214 | 284
Sales and marketing |  |  |  |  |
Stock-based compensation |  |  |  |  |
Compensation expense |  | 1,224 | 920 | 2,251 | 1,898
Research and development |  |  |  |  |
Stock-based compensation |  |  |  |  |
Compensation expense |  | 38 | 59 | 121 | 156
Reimbursement, general and administrative expenses |  |  |  |  |
Stock-based compensation |  |  |  |  |
Compensation expense |  | $ 1,518 | 1,506 | $ 2,535 | 2,777
2016 Plan |  |  |  |  |
Stock-based compensation |  |  |  |  |
Number of shares authorized |  | 4,800,000 |  | 4,800,000 |
Shares available for future issuance |  | 5,879,162 |  | 5,879,162 |
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% |  | 5.00% |
Automatic annual increase to the number of shares reserved and available for issuance |  | 2,500,000 |  | 2,500,000 |
Number of shares of common stock sold | 972,591 |  |  |  |
Common stock options |  |  |  |  |
Stock-based compensation |  |  |  |  |
Compensation expense |  | $ 600 | $ 1,100 | $ 1,400 | $ 2,300
Unrecognized stock-based compensation |  |  |  |  |
Unrecognized stock-based compensation expense, period for recognition |  |  |  | 1 year 8 months 12 days |

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