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Stock-Based Compensation - Compensation Costs (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Net effect on net loss | $ 715 | $ 912 | $ 1,524 | $ 1,827
Cost of revenue |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Net effect on net loss | 68 | 103 | 173 | 208
Selling, general and administrative |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Net effect on net loss | 526 | 655 | 1,079 | 1,287
Research and development |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Net effect on net loss | $ 121 | $ 154 | $ 272 | $ 332

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