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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