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Summary of Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | $ 1,850 | $ 1,784 | $ 5,136 | $ 4,081
Share-based Payment Arrangement, Option [Member] | Cost of Revenues [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | 70 | 38 | 166 | 60
Share-based Payment Arrangement, Option [Member] | Research and Development Expense [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | 387 | 462 | 1,023 | 1,070
Share-based Payment Arrangement, Option [Member] | Selling and Marketing Expense [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | 412 | 153 | 953 | 400
Share-based Payment Arrangement, Option [Member] | Selling, General and Administrative Expenses [Member] |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | $ 981 | $ 1,131 | $ 2,994 | $ 2,551

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