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Stock-Based Compensation - Stock-based compensation expense (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2024 | Mar. 31, 2023
Share-Based Compensation |  |
Total equity based compensation | $ 334 | $ 446
Cost of revenue, net |  |
Share-Based Compensation |  |
Total equity based compensation | 57 | 93
Research and development |  |
Share-Based Compensation |  |
Total equity based compensation | 122 |
Sales and marketing |  |
Share-Based Compensation |  |
Total equity based compensation | 48 | 53
General and administrative |  |
Share-Based Compensation |  |
Total equity based compensation | $ 107 | $ 300

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