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Equity Compensation Plans (Tables)
 9 Months Ended
Sep. 30, 2023
Share-Based Payment Arrangement [Abstract]  
Share-Based Compensation Expense Related To Employee Share-Based Compensation
The following table summarizes the allocation of share-based compensation expense:
Three Months Ended
September 30,		Nine Months Ended
September 30,
2023202220232022
Cost of revenue $442 $405 $1,356 $1,463 
Research and development expenses 1,485 1,115 4,329 3,431 
Selling, general and administrative expenses 6,734 5,481 20,731 16,680 
Total $8,661 $7,001 $26,416 $21,574