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Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized in Income Statement (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation expense | $ 3,020 | $ 3,239 | $ 5,685 | $ 5,755
Cost of Revenue |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation expense | 303 | 319 | 536 | 557
Research and Development |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation expense | 412 | 382 | 796 | 680
Sales and Marketing |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation expense | 766 | 668 | 1,357 | 1,280
General and Administrative |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation expense | $ 1,539 | $ 1,870 | $ 2,996 | $ 3,238

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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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