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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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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
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-Name Accounting Standards Codification
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Aggregate number of common shares reserved for future issuance.

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