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Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized in Income Statement (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation expense | $ 3,500 | $ 2,792 | $ 9,185 | $ 8,547
Cost of Revenue |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation expense | 327 | 269 | 863 | 826
Research and Development |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation expense | 409 | 264 | 1,205 | 944
Sales and Marketing |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation expense | 754 | 695 | 2,111 | 1,975
General and Administrative |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation expense | $ 2,010 | $ 1,564 | $ 5,006 | $ 4,802

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