Stock-Based Compensation - Stock-Based Compensation (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Employee Service Share-based Compensation, Allocation of Recognized Period Costs
Net effect on net income (loss)	$ 915	$ 1,088
Cost of Revenue.
Employee Service Share-based Compensation, Allocation of Recognized Period Costs
Net effect on net income (loss)	105	113
Selling, General and Administrative
Employee Service Share-based Compensation, Allocation of Recognized Period Costs
Net effect on net income (loss)	632	811
Research and Development
Employee Service Share-based Compensation, Allocation of Recognized Period Costs
Net effect on net income (loss)	$ 178	$ 164