Stock-Based Compensation - Expenses (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Stock-Based Compensation
Total stock-based compensation	$ 1,369	$ 1,027	$ 3,791	$ 2,950
Sales and marketing
Stock-Based Compensation
Total stock-based compensation	507	353	1,375	1,000
General and administrative
Stock-Based Compensation
Total stock-based compensation	670	522	1,861	1,521
Research and development
Stock-Based Compensation
Total stock-based compensation	$ 192	$ 152	$ 555	$ 429