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Stock-Based Compensation - Summary of Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2021 | Mar. 31, 2020
Total stock-based compensation expense | $ 1,290 | $ 937
Stock Option Plan [Member] | Cost of Revenues [Member] |  |
Total stock-based compensation expense | 22 | 5
Stock Option Plan [Member] | Research and Development [Member] |  |
Total stock-based compensation expense | 257 | 194
Stock Option Plan [Member] | General and Administrative [Member] |  |
Total stock-based compensation expense | 778 | 634
Stock Option Plan [Member] | Sales and Marketing [Member] |  |
Total stock-based compensation expense | $ 233 | $ 104

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- Definition Amount of noncash expense for share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 28 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=123570139&loc=d3e3602-108585 + Details
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