Stock-Based Compensation - Expenses (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock-Based Compensation
Total stock-based compensation	$ 5,032	$ 3,989	$ 3,661
Sales and marketing
Stock-Based Compensation
Total stock-based compensation	1,824	1,373	961
General and administrative
Stock-Based Compensation
Total stock-based compensation	2,478	2,029	1,542
Research and development
Stock-Based Compensation
Total stock-based compensation	$ 730	$ 587	$ 1,158