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Stock-Based Compensation - Expense (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Total employee stock-based compensation $ 1,304 $ 1,222
Research and development expense    
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Total employee stock-based compensation 349 383
Sales and marketing expense    
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Total employee stock-based compensation 184 313
General and administrative expense    
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]    
Total employee stock-based compensation $ 771 $ 526