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Stock-Based Compensation - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation | $ 4,970 | $ 2,030 | $ 6,929 | $ 3,567
Cost of revenue |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation | 162 | 96 | 337 | 122
Selling and marketing |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation | 410 | 539 | 900 | 937
Research and development |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation | 324 | 390 | 680 | 673
General and administrative |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation | $ 4,074 | $ 1,005 | $ 5,012 | $ 1,835

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