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Condensed Consolidated Statements of Operations and Comprehensive Loss - USD ($)
shares in Thousands, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Income Statement [Abstract]        
Revenue $ 84,529 $ 71,376 $ 159,105 $ 130,651
Cost of revenue 21,010 17,298 39,991 32,033
Gross profit 63,519 54,078 119,114 98,618
Operating expenses:        
Research and development expenses 14,791 12,197 28,420 23,414
Selling, general and administrative expenses 62,388 56,958 118,504 106,166
Total operating expenses 77,179 69,155 146,924 129,580
Loss from operations (13,660) (15,077) (27,810) (30,962)
Other income (expense):        
Interest expense (1,101) (1,197) (2,101) (2,386)
Interest income 76 103 192 237
Other (111) (14) (204) 40
Loss before income tax expense (14,796) (16,185) (29,923) (33,071)
Income tax expense 45 66 101 97
Net loss $ (14,841) $ (16,251) $ (30,024) $ (33,168)
Net income (loss) per share        
Basic net loss per share (in usd per share) $ (0.32) $ (0.36) $ (0.66) $ (0.74)
Diluted net loss per share (in usd per share) $ (0.32) $ (0.36) $ (0.66) $ (0.74)
Weighted average shares outstanding—basic and diluted        
Weighted average shares outstanding—basic (in shares) 45,692 45,035 45,610 44,834
Weighted average shares outstanding—diluted (in shares) 45,692 45,035 45,610 44,834
Comprehensive loss:        
Unrealized loss on investments $ (449) $ (132) $ (2,788) $ (163)
Foreign currency translation adjustment (430) 63 (608) (236)
Other comprehensive loss (879) (69) (3,396) (399)
Net loss (14,841) (16,251) (30,024) (33,168)
Comprehensive loss, net of tax $ (15,720) $ (16,320) $ (33,420) $ (33,567)