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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, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Employee Service Share-based Compensation, Allocation of Recognized Period Costs |  |  |  |
Net effect on net income (loss) | $ 912 | $ 1,134 | $ 1,827 | $ 2,225
Cost of Revenue. |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs |  |  |  |
Net effect on net income (loss) | 103 | 113 | 208 | 226
Selling, General and Administrative |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs |  |  |  |
Net effect on net income (loss) | 655 | 859 | 1,287 | 1,674
Research and Development |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs |  |  |  |
Net effect on net income (loss) | $ 154 | $ 162 | $ 332 | $ 325

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