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Stockholders' Equity - Stock-Based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended
--- | ---
Mar. 31, 2023 | Mar. 31, 2022
Stock-based compensation |  |
Compensation expense | $ 2,023 | $ 2,228
Cost of revenue. |  |
Stock-based compensation |  |
Compensation expense | 103 | 102
Sales and marketing expenses |  |
Stock-based compensation |  |
Compensation expense | 752 | 1,027
Research and development expenses |  |
Stock-based compensation |  |
Compensation expense | 49 | 83
Reimbursement, general and administrative expenses |  |
Stock-based compensation |  |
Compensation expense | $ 1,119 | $ 1,016
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 | 5,614,397 |

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