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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
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