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Equity Plans and Stock-Based Compensation - Stock-Based Compensation Expense (Detail) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Deferred Compensation Arrangement With Individual Share Based Payments [Line Items] |  |  |  |
Stock-based compensation expense | $ 10,687 | $ 8,613 | $ 31,283 | $ 24,188
Research and Development |  |  |  |
Deferred Compensation Arrangement With Individual Share Based Payments [Line Items] |  |  |  |
Stock-based compensation expense | 2,339 | 1,532 | 6,752 | 4,271
Selling, General and Administrative |  |  |  |
Deferred Compensation Arrangement With Individual Share Based Payments [Line Items] |  |  |  |
Stock-based compensation expense | 7,320 | 6,019 | 21,353 | 17,043
Cost of Sales - Product |  |  |  |
Deferred Compensation Arrangement With Individual Share Based Payments [Line Items] |  |  |  |
Stock-based compensation expense | 369 | 323 | 1,463 | 626
Inventory |  |  |  |
Deferred Compensation Arrangement With Individual Share Based Payments [Line Items] |  |  |  |
Stock-based compensation expense | $ 659 | $ 739 | $ 1,715 | $ 2,248

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