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Condensed Consolidated Statements of Operations and Comprehensive Loss - USD ($)
shares in Thousands, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Income Statement [Abstract]        
Revenue $ 35,102 $ 20,349 $ 92,610 $ 51,237
Cost of sales 16,228 10,118 42,816 24,828
Gross profit 18,874 10,231 49,794 26,409
Operating expenses:        
Research and development 11,600 7,582 33,950 19,299
Selling, general and administrative 32,883 24,754 95,457 62,794
Total operating expenses 44,483 32,336 129,407 82,093
Loss from operations (25,609) (22,105) (79,613) (55,684)
Interest expense (1,019) (1,455) (2,870) (4,317)
Interest and other income, net 2,006 947 4,090 1,019
Net loss $ (24,622) $ (22,613) $ (78,393) $ (58,982)
Net loss per share, basic (in dollars per share) $ (0.51) $ (0.51) $ (1.70) $ (1.33)
Net loss per share, diluted (in dollars per share) $ (0.51) $ (0.51) $ (1.70) $ (1.33)
Weighted-average common shares used to compute net loss per share attributable to common shareholders        
Basic (in shares) 48,310 44,640 46,131 44,276
Diluted (in shares) 48,310 44,640 46,131 44,276
Other comprehensive loss:        
Unrealized gain on cash equivalents $ 0 $ 185 $ 0 $ 271
Comprehensive loss $ (24,622) $ (22,428) $ (78,393) $ (58,711)