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401(k) Savings Plan - 401(k) Plan Costs Recognized (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Defined Contribution Plan Disclosure [Line Items]    
Matching contributions $ 144 $ 272
Cost of revenue    
Defined Contribution Plan Disclosure [Line Items]    
Matching contributions 32 33
Sales and marketing    
Defined Contribution Plan Disclosure [Line Items]    
Matching contributions 76 176
Research and development    
Defined Contribution Plan Disclosure [Line Items]    
Matching contributions 13 24
General and administrative    
Defined Contribution Plan Disclosure [Line Items]    
Matching contributions $ 23 $ 39