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Stockholders' Equity - Stock-Based Compensation (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Stock-based compensation      
Compensation expense $ 9,600 $ 10,173 $ 10,689
Cost of revenue.      
Stock-based compensation      
Compensation expense 367 433 539
Sales and marketing expenses      
Stock-based compensation      
Compensation expense 4,060 4,069 5,058
Research and development expenses      
Stock-based compensation      
Compensation expense 226 314 360
Reimbursement, general and administrative expenses      
Stock-based compensation      
Compensation expense $ 4,947 $ 5,357 $ 4,732
2016 Plan      
Stock-based compensation      
Number of shares authorized 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%    
Automatic annual increase to the number of shares reserved and available for issuance 2,500,000    
Shares available for future issuance 5,957,683