Equity and Stock-Based Compensation - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2023 |
Dec. 31, 2022 |
Dec. 31, 2021 |
|
| Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] | |||
| Stock-based compensation | $ 11,983 | $ 7,984 | $ 7,656 |
| Cost of revenue | |||
| Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] | |||
| Stock-based compensation | 824 | 433 | 343 |
| Selling and marketing | |||
| Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] | |||
| Stock-based compensation | 2,475 | 2,028 | 1,746 |
| Research and development | |||
| Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] | |||
| Stock-based compensation | 1,870 | 1,444 | 1,379 |
| General and administrative | |||
| Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] | |||
| Stock-based compensation | $ 6,814 | $ 4,079 | $ 4,188 |