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Employee Benefit Plans and Stock-based Compensation - Stock-Based Compensation (Details) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Employee Service Share-based Compensation, Allocation of Recognized Period Costs |  |  |
Net effect on net income (loss) | $ 3,540 | $ 4,006 | $ 4,519
Effect on basic net income (loss) per share | $ 0.08 | $ 0.10 | $ 0.11
Effect on diluted net income (loss) per share | $ 0.08 | $ 0.09 | $ 0.11
Cost of revenue |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs |  |  |
Net effect on net income (loss) | $ 414 | $ 379 | $ 368
Selling, general and administrative |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs |  |  |
Net effect on net income (loss) | 2,502 | 2,947 | 3,514
Research and development |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs |  |  |
Net effect on net income (loss) | $ 624 | $ 680 | $ 637

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- Definition Effect of stock-based compensation on basic earnings per share. + References No definition available. + Details
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