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Stockholders' Equity - Stock-Based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Stock-based compensation |  |  |  |
Compensation expense | $ 1,808 | $ 2,892 | $ 3,831 | $ 5,121
Cost of revenue. |  |  |  |
Stock-based compensation |  |  |  |
Compensation expense | 121 | 112 | 224 | 214
Sales and marketing expenses |  |  |  |
Stock-based compensation |  |  |  |
Compensation expense | 810 | 1,224 | 1,562 | 2,251
Research and development expenses |  |  |  |
Stock-based compensation |  |  |  |
Compensation expense | 44 | 38 | 93 | 121
Reimbursement, general and administrative expenses |  |  |  |
Stock-based compensation |  |  |  |
Compensation expense | $ 833 | $ 1,518 | $ 1,952 | $ 2,535
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 |
Shares available for future issuance | 5,661,942 |  | 5,661,942 |

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