Annual report pursuant to Section 13 and 15(d)

Stock-Based Compensation - Summary of the Stock Based Compensation Expense based on Roles and Responsibilities of the Employees (Details)

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Stock-Based Compensation - Summary of the Stock Based Compensation Expense based on Roles and Responsibilities of the Employees (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Share-based Payment Arrangement, Expense $ 12,978 $ 11,491
Cost of Revenue    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Share-based Payment Arrangement, Expense 197 232
Research and Development    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Share-based Payment Arrangement, Expense 3,474 3,154
Selling and Marketing    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Share-based Payment Arrangement, Expense 2,707 2,822
General and Administrative    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Share-based Payment Arrangement, Expense $ 6,600 $ 5,283