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Revenue from Contracts with Customers - Narrative (Details) - USD ($)
$ in Thousands
 3 Months Ended 12 Months Ended
Dec. 31, 2023
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2021
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Disaggregation of Revenue [Line Items]                        
Practical expedient incremental cost                   true    
Returns policy, threshold product return period                   18 months    
Returns policy, threshold product return period prior to expiration                   6 months    
Returns policy, threshold product return period after expiration                   12 months    
Maximum percentage of value of actual returned product to product returns claimed                       20.00%
Product revenues, net $ 149,745 $ 136,709 $ 135,546 $ 144,767 $ 129,620 $ 127,013 $ 123,549 $ 83,751   $ 566,767 $ 463,933 $ 276,868
Estimates of product returned | Adjustment                        
Disaggregation of Revenue [Line Items]                        
Product revenues, net                 $ (38,329)   $ 4,684 $ (26,644)
Minimum                        
Disaggregation of Revenue [Line Items]                        
Term of payment received                   30 days    
Maximum                        
Disaggregation of Revenue [Line Items]                        
Term of payment received                   90 days