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Share-based Compensation - Share-based Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation expense | $ 17,875 | $ 16,649 | $ 10,419
Stock options |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation expense | 5,900 | 6,300 | 5,800
Restricted Stock Units |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation expense | 11,700 | 9,600 | 4,100
Unrecognized share-based compensation expense related to non-vested RSUs | $ 4,000 |  |
Employee Stock Purchase Plan |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Number of shares authorized under the plan | 5,324,000 |  |
Share-based compensation expense | $ 300 | 700 | 600
Cost of revenues |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation expense | 2,110 | 2,469 | 1,583
Research and development |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation expense | 5,369 | 4,813 | 2,823
Sales and marketing |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation expense | 3,528 | 3,704 | 2,346
General and administrative |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation expense | $ 6,868 | $ 5,663 | $ 3,667

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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