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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