Stock-Based Compensation - Expenses (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Stock-Based Compensation
Total stock-based compensation	$ 3,989	$ 3,661	$ 2,058
Sales and marketing
Stock-Based Compensation
Total stock-based compensation	1,373	961	696
General and administrative
Stock-Based Compensation
Total stock-based compensation	2,029	1,542	1,030
Research and development
Stock-Based Compensation
Total stock-based compensation	$ 587	$ 1,158	$ 332