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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, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation expense $ 8,466 $ 30,367 $ 29,586 $ 30,758
Cost of Revenue        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation expense 29 27 67 70
Research and Development        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation expense 189 135 503 269
Sales and Marketing        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation expense 227 765 610 787
General and Administrative        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation expense $ 8,021 $ 29,440 $ 28,406 $ 29,632