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Stockholders' Equity - Stock-Based Compensation (Details) - USD ($)
$ in Thousands
3 Months Ended
Jan. 01, 2024
Mar. 31, 2024
Mar. 31, 2023
Stock-based compensation      
Compensation expense   $ 2,039 $ 2,023
Cost of revenue.      
Stock-based compensation      
Compensation expense   83 103
Sales and marketing expenses      
Stock-based compensation      
Compensation expense   738 752
Research and development expenses      
Stock-based compensation      
Compensation expense   33 49
Reimbursement, general and administrative expenses      
Stock-based compensation      
Compensation expense   $ 1,185 $ 1,119
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  
Increase in number of shares reserved and available for issuance 1,180,019    
Shares available for future issuance   6,451,155