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Stockholders' Equity - Stock-Based Compensation (Details) $ / shares in Units, $ in Thousands			12 Months Ended
	Feb. 27, 2023 USD ($) $ / shares shares	Aug. 02, 2016 USD ($) shares	Dec. 31, 2023 USD ($) shares	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Stock-based compensation
Compensation expense			$ 7,547	$ 9,600	$ 10,173
Net proceeds received after deducting underwriting discounts, commissions, and offering expenses			34,625
Conversion of preferred stock to common stock (in shares) | shares		5,924,453
Number of new stock issued relating to the IPO that Series A and Series B preferred stockholders are entitled to receive | shares		2,354,323
Follow-On Public Offering
Stock-based compensation
Sale of common stock from follow-on public offering, net of offering expenses (in shares) | shares	2,875,000
Stock price | $ / shares	$ 13.00
Net proceeds received after deducting underwriting discounts, commissions, and offering expenses	$ 34,600
Series B Preferred Stock
Stock-based compensation
Preferred stock to common stock conversion ratio		1
Number of new stock issued to pay accrued stock dividends relating to initial offering price | shares		956,842
Series A Preferred Stock
Stock-based compensation
Preferred stock to common stock conversion ratio		1.03
Payment of dividends		$ 100
Cumulative accrued dividends		$ 8,200
Cost of revenue.
Stock-based compensation
Compensation expense			420	367	433
Sales and marketing expenses
Stock-based compensation
Compensation expense			2,985	4,060	4,069
Research and development expenses
Stock-based compensation
Compensation expense			133	226	314
Reimbursement, general and administrative expenses
Stock-based compensation
Compensation expense			$ 4,009	$ 4,947	$ 5,357
2016 Plan
Stock-based compensation
Number of shares authorized | shares			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 | shares			2,500,000
Shares available for future issuance | shares			5,809,744

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