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Equity Incentive Plans - Schedule of Stock-Based Compensation Expense Recorded in Consolidated Statements of Operations (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation expense | $ 5,872 | $ 4,462 | $ 3,057
Cost of Revenue |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation expense | 1,567 | 1,093 | 670
Sales and Marketing |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation expense | 1,612 | 1,268 | 955
Research and Development |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation expense | 734 | 580 | 365
General and Administrative |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation expense | $ 1,959 | $ 1,521 | $ 1,067

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