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Stock-based Compensation - Schedule of Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation expense | $ 285 | $ 312 | $ 760 | $ 770
Cost of Sales |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation expense | 16 | 16 | 48 | 39
Selling and Marketing Expense |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation expense | 45 | 59 | 156 | 165
General and Administrative Expense |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation expense | 189 | 173 | 426 | 371
Research and Development Expense |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Stock-based compensation expense | $ 35 | $ 64 | $ 130 | $ 195

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