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Stockholders' Equity - Stock-Based Compensation (Details) - USD ($) $ in Thousands |  | 3 Months Ended | 6 Months Ended
--- | --- | --- | ---
Jan. 01, 2024 | Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
Stock-based compensation |  |  |  |  |
Compensation expense |  | $ 1,860 | $ 1,808 | $ 3,899 | $ 3,831
Cost of revenue. |  |  |  |  |
Stock-based compensation |  |  |  |  |
Compensation expense |  | 103 | 121 | 186 | 224
Sales and marketing expenses |  |  |  |  |
Stock-based compensation |  |  |  |  |
Compensation expense |  | 606 | 810 | 1,344 | 1,562
Research and development expenses |  |  |  |  |
Stock-based compensation |  |  |  |  |
Compensation expense |  | 48 | 44 | 81 | 93
Reimbursement, general and administrative expenses |  |  |  |  |
Stock-based compensation |  |  |  |  |
Compensation expense |  | $ 1,103 | $ 833 | $ 2,288 | $ 1,952
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 |
Increase in number of shares reserved and available for issuance | 1,180,019 |  |  |  |
Shares available for future issuance |  | 6,615,454 |  | 6,615,454 |

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