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Stock-Based Compensation - Non-cash stock-based compensation expense (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2023 | Mar. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Total non-cash stock compensation expense | $ 945 | $ 1,065
Unrecognized compensation costs | 8,300 |
Sales and marketing |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Total non-cash stock compensation expense | 162 | 83
Research and development |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Total non-cash stock compensation expense | 224 | 261
General and administrative |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Total non-cash stock compensation expense | $ 559 | $ 721

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Amount of cost not yet recognized for nonvested award under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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