Stock-Based Compensation - Expenses (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Stock-Based Compensation
Total stock-based compensation	$ 1,102	$ 1,128
Sales and marketing
Stock-Based Compensation
Total stock-based compensation	373	401
General and administrative
Stock-Based Compensation
Total stock-based compensation	573	554
Research and development
Stock-Based Compensation
Total stock-based compensation	$ 156	$ 173