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Stock-based compensation (Tables)
 12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of Service Vesting-Based Stock Option Activity
The following is a summary of service vesting-based stock option activity for the year ended December 31, 2023 and 2022, and the status of service vesting-based stock options outstanding as of December 31, 2023 and 2022:
20232022
SharesWtd. Avg.
Exercise Price		SharesWtd. Avg.
Exercise Price
Outstanding as of beginning of year456,293$2.17 624,531$2.13 
Exercised(239,043)2.12 (161,646)2.00 
Expired— — (6,592)3.22 
Outstanding at end of year217,250$2.21 456,293$2.17 
Stock options exercisable at year end217,250$2.21 456,293$2.17 
Schedule of Share-Based Payment Arrangement, Option, Exercise Price Range
The following table summarizes information about service vesting-based stock options outstanding as of December 31, 2023:
Range of Exercise PricesNumber Outstanding at
December 31, 2023		Weighted Average
Remaining Contractual Life		Weighted Average Exercise
Price
$1.00 - 1.50
2,0002.85$1.49 
$1.51 - 2.00
116,5002.321.89 
$2.01 - 2.50
84,5001.362.07 
$2.51 - 8.60
14,2503.925.69 
217,2502.06$2.21 
Schedule of Share-Based Payment Arrangement, Restricted Stock and Restricted Stock Unit, Activity
The following is a summary of service vesting-based restricted stock activity for the years ended December 31, 2023 and 2022, and the status of unvested service vesting-based restricted stock outstanding as of December 31, 2023 and 2022:
20232022
SharesWtd. Avg. Grant
Date Fair Value		SharesWtd. Avg. Grant
Date Fair Value
Outstanding as of beginning of year1,879,215$28.94 1,212,783$37.48 
Granted1,907,10113.12 1,373,90925.26 
Vested(1,237,221)24.97 (569,535)35.51 
Forfeited(236,197)25.88 (137,942)40.19 
Non-vested at year end2,312,898$18.32 1,879,215$28.94 
The following is a summary of market-based restricted stock activity under our stock option plan for the years ended December 31, 2023 and 2022 and the status of market-based restricted stock outstanding as of December 31, 2023 and 2022:
20232022
SharesWtd. Avg. Grant Date Fair
Value		SharesWtd. Avg. Grant Date Fair
Value
Outstanding as of beginning of year271,044$30.64 139,756$19.86 
Granted268,73824.23 349,56822.66 
Vested(30,616)51.65 (218,280)10.95 
Non-vested at year end509,166$26.00 271,044$30.64 
Schedule of Share-Based Payment Arrangement, Expensed and Capitalized, Amount
We recorded total stock compensation expense for the years ended December 31, 2023, 2022, and 2021, as follows:
202320222021
Research and development costs$5,631 $3,176 $1,906 
Sales and marketing costs5,620 3,649 1,788 
General and administrative costs14,937 14,066 8,061 
Cost of revenue5,482 4,443 2,201 
Total$31,670 $25,334 $13,956