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Employee Benefit Plans and Stock-based Compensation - Stock-Based Compensation (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock-based compensation | $ 4,519 | $ 2,623 | $ 2,346
Net effect on net income (loss) | $ 4,519 | $ 2,623 | $ 2,346
Shares used in computing basic net income (loss) per share | 41,367 | 40,152 | 39,487
Shares used in computing diluted net income (loss) per share | 42,720 | 41,025 | 39,487
Effect on basic net income (loss) per share | $ 0.11 | $ 0.07 | $ (0.06)
Effect on diluted net income (loss) per share | $ 0.11 | $ 0.06 | $ (0.06)
Cost of Revenue [Member] |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock-based compensation | $ 368 | $ 116 | $ 125
Selling, General and Administrative [Member] |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock-based compensation | 3,514 | 2,000 | 1,778
Research and Development [Member] |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total stock-based compensation | $ 637 | $ 507 | $ 443

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