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Stock-based Compensation - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation	$ 13,123	$ 14,880
Cost of product revenue
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation	811	592
Research and development expense
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation	1,671	2,481
Selling, general and administrative expense
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation	$ 10,641	$ 11,807

X

- Definition

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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