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Stock-Based Compensation - Stock-Based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation | $ 1,134 | $ 975 | $ 2,225 | $ 1,791
Net effect on net income | 1,134 | 975 | 2,225 | 1,791
Cost of Revenue [Member] |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation | 113 | 36 | 226 | 75
Selling, General and Administrative [Member] |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation | 859 | 802 | 1,674 | 1,442
Research and Development [Member] |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation | $ 162 | $ 137 | $ 325 | $ 274

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