Stock-Based Compensation - Expenses (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Stock-Based Compensation
Total stock-based compensation	$ 1,128	$ 901
Sales and marketing
Stock-Based Compensation
Total stock-based compensation	401	307
General and administrative
Stock-Based Compensation
Total stock-based compensation	554	464
Research and development
Stock-Based Compensation
Total stock-based compensation	$ 173	$ 130