Equity Incentive Plans - Stock-based compensation expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Equity Incentive Plan
Total stock-based compensation expense	$ 9,413	$ 10,734	$ 27,428	$ 38,769
Cost of revenue - software and other services
Equity Incentive Plan
Total stock-based compensation expense	20	6	63	9
Research and development
Equity Incentive Plan
Total stock-based compensation expense	3,160	3,552	9,533	6,502
Sales and marketing
Equity Incentive Plan
Total stock-based compensation expense	2,021	2,484	5,920	6,243
General and administrative
Equity Incentive Plan
Total stock-based compensation expense	$ 4,212	$ 4,692	$ 11,912	$ 26,015