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Stockholders' Equity - Stock-Based Compensation (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Stock-based compensation
Compensation expense	$ 1,766	$ 2,560	$ 5,597	$ 7,681
Cost of revenue.
Stock-based compensation
Compensation expense	116	67	340	281
Sales and marketing expenses
Stock-based compensation
Compensation expense	634	1,101	2,196	3,352
Research and development expenses
Stock-based compensation
Compensation expense	5	54	98	175
Reimbursement, general and administrative expenses
Stock-based compensation
Compensation expense	$ 1,011	$ 1,338	$ 2,963	$ 3,873
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	5,773,265		5,773,265

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

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-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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