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Stock-Based Compensation - Stock-Based Compensation (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
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