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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