Employee Benefit Plans and Stock-based Compensation - Stock-Based Compensation (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Employee Service Share-based Compensation, Allocation of Recognized Period Costs
Net effect on net income (loss)	$ 3,540	$ 4,006	$ 4,519
Effect on basic net income (loss) per share	$ 0.08	$ 0.10	$ 0.11
Effect on diluted net income (loss) per share	$ 0.08	$ 0.09	$ 0.11
Cost of revenue
Employee Service Share-based Compensation, Allocation of Recognized Period Costs
Net effect on net income (loss)	$ 414	$ 379	$ 368
Selling, general and administrative
Employee Service Share-based Compensation, Allocation of Recognized Period Costs
Net effect on net income (loss)	2,502	2,947	3,514
Research and development
Employee Service Share-based Compensation, Allocation of Recognized Period Costs
Net effect on net income (loss)	$ 624	$ 680	$ 637