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Unaudited Condensed Statements of Operations - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Income Statement [Abstract]        
Revenue $ 12,507 $ 13,416 $ 41,986 $ 38,783
Operating expenses:        
Costs of revenue 5,526 5,710 17,351 17,472
Selling, general and administrative expenses 10,163 11,375 31,169 35,212
Research and development expenses 1,481 1,400 3,719 3,789
Total operating expenses 17,170 18,485 52,239 56,473
Loss from operations (4,663) (5,069) (10,253) (17,690)
Interest expense (562) (557) (1,671) (1,769)
Interest income 197 211 570 1,343
Net loss $ (5,028) $ (5,415) $ (11,354) $ (18,116)
Net loss per share, basic (in dollars per share) $ (0.28) $ (0.31) $ (0.63) $ (1.03)
Net loss per share, diluted (in dollars per share) $ (0.28) $ (0.31) $ (0.63) $ (1.03)
Weighted-average number of shares used to compute net loss per share, basic (in shares) 18,254,937 17,692,603 18,127,549 17,626,686
Weighted-average number of shares used to compute net loss per share, diluted (in shares) 18,254,937 17,692,603 18,127,549 17,626,686