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Stock-based Compensation (Tables)
 9 Months Ended
Sep. 30, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of Stock-based Compensation Expense
Total stock-based compensation was recognized as follows (in thousands):

Three Months Ended September 30,Nine Months Ended September 30,
2023202220232022
General and administrative$1,196 $880 $4,093 $4289 
Sales and marketing394 2381,362 1,650
Research and development620 7222,188 2,476
Total stock-based compensation$2,210 $1,840 $7,643 $8,415