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Equity Incentive Plans - Stock-Based Compensation (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Stock-based Compensation [Line Items]
Stock-based compensation expense	$ 3,193	$ 3,219	$ 6,824	$ 6,306
Selling, general and administrative
Stock-based Compensation [Line Items]
Stock-based compensation expense	2,220	2,132	4,728	4,127
Research and development
Stock-based Compensation [Line Items]
Stock-based compensation expense	$ 973	$ 1,087	$ 2,096	$ 2,179

X

- Definition

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (h)(1)(i)
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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- Definition

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

+ References

No definition available.

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