CONSOLIDATED STATEMENTS OF OPERATIONS AND COMPREHENSIVE LOSS (Parenthetical) - USD ($) $ in Thousands		12 Months Ended
		Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Convertible redeemable preferred stock dividends	[1]	$ (15,513)	$ (12,623)	$ 0
Stock-based compensation expense		8,178	13,848	10,073
Cost of revenues
Stock-based compensation expense		1,144	1,603	1,288
Selling and marketing
Stock-based compensation expense		1,021	1,791	2,226
Research and development
Stock-based compensation expense		827	1,079	886
General and administrative
Stock-based compensation expense		5,186	9,375	5,673
Investor
Revenues		14,934	16,285	13,314
Interest expense, net		0	(4,692)	(24,480)
Loss on extinguishment of debt		0	(9,608)	0
Convertible redeemable preferred stock dividends		(15,513)	(12,623)	0
Investor | Cost of revenues
Cost of revenues		$ 26,971	$ 34,534	$ 10,094

[1] Transactions with related parties are included in the line items above as follows (refer to Footnote 14, Related Party Transactions, for further information): Years Ended December 31,202220212020Revenues$14,934 $16,285 $13,314 Cost of revenues26,971 34,534 10,094 Interest expense, net— (4,692)(24,480)Loss on extinguishment of debt— (9,608)— Convertible redeemable preferred stock dividends(15,513)(12,623)—