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Stock-Based Compensation - Stock-Based Compensation (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
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