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Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 30, 2023
Stock-based compensation
Total stock-based compensation expense	$ 1,603	$ 1,442	$ 4,701	$ 4,560
Selling, general and administrative
Stock-based compensation
Total stock-based compensation expense	1,509	1,308	4,434	3,502
Research and development
Stock-based compensation
Total stock-based compensation expense	$ 94	$ 134	$ 267	$ 1,058

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- Definition

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

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