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Stock-Based Compensation - Stock-Based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Employee Service Share-based Compensation, Allocation of Recognized Period Costs |  |  |  |
Net effect on net income (loss) | $ 891 | $ 1,036 | $ 2,718 | $ 3,261
Cost of revenue |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs |  |  |  |
Net effect on net income (loss) | 102 | 51 | 310 | 277
Selling, general and administrative |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs |  |  |  |
Net effect on net income (loss) | 639 | 806 | 1,926 | 2,480
Research and development |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs |  |  |  |
Net effect on net income (loss) | $ 150 | $ 179 | $ 482 | $ 504

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