Quarterly report pursuant to Section 13 or 15(d)

Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized in Income Statement (Details)

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Stockholders' Equity - Summary of Stock-based Compensation Expense Recognized in Income Statement (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Stock-based compensation expense $ 1,779 $ 3,500 $ 8,484 $ 9,185
Cost of Revenue        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Stock-based compensation expense 164 327 401 863
Research and Development        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Stock-based compensation expense 358 409 1,192 1,205
Sales and Marketing        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Stock-based compensation expense (255) 754 1,177 2,111
General and Administrative        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Stock-based compensation expense $ 1,512 $ 2,010 $ 5,714 $ 5,006