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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, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Employee Service Share-based Compensation, Allocation of Recognized Period Costs |  |  |
Net effect on net income | $ 4,006 | $ 4,519 | $ 2,623
Shares used in computing basic net income (loss) per share | 42,104 | 41,367 | 40,152
Shares used in computing diluted net income (loss) per share | 42,715 | 42,720 | 41,025
Effect on basic net income (loss) per share | $ 0.10 | $ 0.11 | $ 0.07
Effect on diluted net income (loss) per share | $ 0.09 | $ 0.11 | $ 0.06
Cost of Revenue |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs |  |  |
Net effect on net income | $ 379 | $ 368 | $ 116
Selling, General and Administrative |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs |  |  |
Net effect on net income | 2,947 | 3,514 | 2,000
Research and Development |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs |  |  |
Net effect on net income | $ 680 | $ 637 | $ 507

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