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Consolidated Statements of Operations and Comprehensive Loss - USD ($)
shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Statement [Abstract]      
Revenue $ 136,191 $ 75,014 $ 34,473
Cost of sales 65,142 37,929 18,608
Gross profit 71,049 37,085 15,865
Operating expenses:      
Research and development 48,446 28,981 18,993
Selling, general and administrative 131,773 88,828 51,036
Total operating expenses 180,219 117,809 70,029
Loss from operations (109,170) (80,724) (54,164)
Interest expense (3,995) (5,183) (5,810)
Interest and other income, net 7,268 2,011 121
Loss on loan extinguishment 0 (3,258) 0
Net loss $ (105,897) $ (87,154) $ (59,853)
Net loss per share, basic (in dollars per share) $ (2.24) $ (1.96) $ (3.63)
Net loss per share, diluted (in dollars per share) $ (2.24) $ (1.96) $ (3.63)
Weighted-average common shares used to      
Basic (in shares) 47,255 44,400 16,480
Diluted (in shares) 47,255 44,400 16,480
Other comprehensive gain (loss):      
Unrealized gain (loss) on cash equivalents $ 90 $ 48 $ (40)
Comprehensive loss $ (105,807) $ (87,106) $ (59,893)