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Stock-Based Compensation - Summary of Stock-based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Compensation expense $ 3,276 $ 3,823 $ 6,956 $ 7,346
Cost of revenue        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Compensation expense 253   504  
Research and Development        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Compensation expense 912 933 1,890 1,814
Sales and Marketing        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Compensation expense 182 590 418 1,129
General and Administrative Expense        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Compensation expense $ 1,929 $ 2,300 $ 4,144 $ 4,403