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Stock-Based Compensation - Stock-Based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2020 | Sep. 30, 2019
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation | $ 648 | $ 583 | $ 1,932 | $ 1,709
Net effect on net income | 648 | 583 | 1,932 | 1,709
Cost of Revenue [Member] |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation | 28 | 31 | 83 | 92
Selling, General and Administrative [Member] |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation | 496 | 433 | 1,480 | 1,296
Research and Development [Member] |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation | $ 124 | $ 119 | $ 369 | $ 321

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