Annual report pursuant to Section 13 and 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
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Stock-based compensation expense $ 7,427 $ 12,283 $ 10,943
Cost of Revenue      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Stock-based compensation expense 540 1,127 1,106
Research and Development      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Stock-based compensation expense 1,592 1,591 1,276
Sales and Marketing      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Stock-based compensation expense 1,598 2,785 2,388
General and Administrative      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Stock-based compensation expense $ 3,697 $ 6,780 $ 6,173