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Stock-based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	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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