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Stockholders' Equity - Stock-Based Compensation (Details) - USD ($) $ in Thousands |  | 3 Months Ended | 9 Months Ended
--- | --- | --- | ---
Jan. 01, 2021 | Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021
Stock-based compensation |  |  |  |  |
Compensation expense |  | $ 2,560 | $ 2,588 | $ 7,681 | $ 7,703
Cost of revenue. |  |  |  |  |
Stock-based compensation |  |  |  |  |
Compensation expense |  | 67 | 171 | 281 | 455
Sales and marketing expenses |  |  |  |  |
Stock-based compensation |  |  |  |  |
Compensation expense |  | 1,101 | 1,081 | 3,352 | 2,979
Research and development expenses |  |  |  |  |
Stock-based compensation |  |  |  |  |
Compensation expense |  | 54 | 68 | 175 | 224
Reimbursement, general and administrative expenses |  |  |  |  |
Stock-based compensation |  |  |  |  |
Compensation expense |  | $ 1,338 | $ 1,268 | $ 3,873 | $ 4,045
2016 Plan |  |  |  |  |
Stock-based compensation |  |  |  |  |
Number of shares authorized |  | 4,800,000 |  | 4,800,000 |
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 |  |  |  |
Shares available for future issuance |  | 5,916,065 |  | 5,916,065 |

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