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Stock-Based Compensation - Summary of Stock-based Compensation Expense (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Compensation expense $ 13,271 $ 13,716 $ 8,131
Cost of revenue      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Compensation expense 1,026    
Research and Development      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Compensation expense 3,664 3,668 2,340
Sales and Marketing      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Compensation expense 635 1,396 1,379
General and Administrative Expense      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Compensation expense $ 7,946 $ 8,652 $ 4,412