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Stock-Based Compensation - Stock-Based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2021 | Mar. 31, 2020
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Total stock-based compensation | $ 816 | $ 643
Net effect on net income | 816 | 643
Cost of Revenue [Member] |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Total stock-based compensation | 39 | 28
Selling, General and Administrative [Member] |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Total stock-based compensation | 640 | 492
Research and Development [Member] |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Total stock-based compensation | $ 137 | $ 123

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