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Stock-based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total stock-based compensation | $ 2,104 | $ 2,644 | $ 4,331 | $ 5,433
General and administrative |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total stock-based compensation | 1,234 | 1,461 | 2,517 | 2,897
Sales and marketing |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total stock-based compensation | 367 | 476 | 711 | 968
Research and development |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total stock-based compensation | $ 503 | $ 707 | $ 1,103 | $ 1,568

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