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Equity Plans and Stock-Based Compensation - Stock-Based Compensation Expense (Detail) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2021 | Jun. 30, 2020 | Jun. 30, 2021 | Jun. 30, 2020
Deferred Compensation Arrangement With Individual Share Based Payments [Line Items] |  |  |  |
Stock-based compensation expense | $ 5,024 | $ 4,088 | $ 9,747 | $ 5,866
Research and Development |  |  |  |
Deferred Compensation Arrangement With Individual Share Based Payments [Line Items] |  |  |  |
Stock-based compensation expense | 937 | 774 | 1,809 | (799)
Selling, General and Administrative |  |  |  |
Deferred Compensation Arrangement With Individual Share Based Payments [Line Items] |  |  |  |
Stock-based compensation expense | 3,445 | 2,491 | 6,589 | 4,933
Cost of Sales - Product |  |  |  |
Deferred Compensation Arrangement With Individual Share Based Payments [Line Items] |  |  |  |
Stock-based compensation expense | 155 | 179 | 324 | 315
Inventory |  |  |  |
Deferred Compensation Arrangement With Individual Share Based Payments [Line Items] |  |  |  |
Stock-based compensation expense | $ 487 | $ 644 | $ 1,025 | $ 1,417

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