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Stock-based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2024 | Dec. 31, 2023 | Dec. 31, 2022
Stock-based compensation |  |  |
Total stock-based compensation expense | $ 6,374 | $ 5,837 | $ 7,347
Unrecognized compensation cost | 13,859 |  |
ESPP |  |  |
Stock-based compensation |  |  |
Total stock-based compensation expense | 165 | 26 | 43
Stock options |  |  |
Stock-based compensation |  |  |
Total stock-based compensation expense | 2,738 | 1,980 | 3,057
Unrecognized compensation cost | $ 6,765 |  |
Weighted-Average Amortization Period (Years) | 2 years 9 months 18 days |  |
RSUs |  |  |
Stock-based compensation |  |  |
Total stock-based compensation expense | $ 3,348 | 3,663 | 4,053
Unrecognized compensation cost | $ 6,996 |  |
Weighted-Average Amortization Period (Years) | 2 years 6 months |  |
RSAs |  |  |
Stock-based compensation |  |  |
Total stock-based compensation expense | $ 123 | 168 | 194
Unrecognized compensation cost | $ 98 |  |
Weighted-Average Amortization Period (Years) | 1 year 3 months 18 days |  |
Selling, general and administrative |  |  |
Stock-based compensation |  |  |
Total stock-based compensation expense | $ 6,040 | 4,645 | 5,305
Research and development |  |  |
Stock-based compensation |  |  |
Total stock-based compensation expense | $ 334 | $ 1,192 | $ 2,042

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