Stock-Based Compensation - Stock-Based Compensation (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Employee Service Share-based Compensation, Allocation of Recognized Period Costs
Net effect on net income (loss)	$ 809	$ 915
Cost of revenue
Employee Service Share-based Compensation, Allocation of Recognized Period Costs
Net effect on net income (loss)	105	105
Selling, general and administrative
Employee Service Share-based Compensation, Allocation of Recognized Period Costs
Net effect on net income (loss)	553	632
Research and development
Employee Service Share-based Compensation, Allocation of Recognized Period Costs
Net effect on net income (loss)	$ 151	$ 178