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Stockholders' Equity - Stock-Based Compensation (Details) $ in Thousands |  |  |  | 12 Months Ended |  |
--- | --- | --- | --- | --- | --- | ---
Jan. 01, 2025 shares | Jan. 01, 2024 shares | Aug. 02, 2016 USD ($) shares | Dec. 31, 2024 USD ($) shares | Dec. 31, 2023 USD ($) | Dec. 31, 2022 USD ($) | Nov. 04, 2024 USD ($) | Apr. 27, 2016 shares
Stock-based compensation |  |  |  |  |  |  |  |
Amount of authorized shares to repurchase |  |  |  | $ 26,500 |  |  | $ 30,000 |
Compensation expense |  |  |  | $ 7,819 | $ 7,547 | $ 9,600 |  |
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 |  |  |  |  |
Employee Stock Purchase Plan |  |  |  |  |  |  |  |
Stock-based compensation |  |  |  |  |  |  |  |
Increase in number of shares reserved and available for issuance | shares | 240,780 | 236,003 |  |  |  |  |  |
Shares available for future issuance | shares |  |  |  | 1,444,905 |  |  |  | 1,600,000
Compensation expense |  |  |  | $ 500 | 600 | 800 |  |
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 |  |  |  | 365 | 420 | 367 |  |
Sales and marketing expenses |  |  |  |  |  |  |  |
Stock-based compensation |  |  |  |  |  |  |  |
Compensation expense |  |  |  | 2,413 | 2,985 | 4,060 |  |
Research and development expenses |  |  |  |  |  |  |  |
Stock-based compensation |  |  |  |  |  |  |  |
Compensation expense |  |  |  | 157 | 133 | 226 |  |
Reimbursement, general and administrative expenses |  |  |  |  |  |  |  |
Stock-based compensation |  |  |  |  |  |  |  |
Compensation expense |  |  |  | $ 4,884 | 4,009 | 4,947 |  |
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 |  |  |  |
Increase in number of shares reserved and available for issuance | shares |  | 1,180,019 |  |  |  |  |  |
Shares available for future issuance | shares |  |  |  | 6,475,903 |  |  |  |
Employee Stock Option [Member] |  |  |  |  |  |  |  |
Stock-based compensation |  |  |  |  |  |  |  |
Compensation expense |  |  |  | $ 200 | $ 900 | $ 2,500 |  |

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