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Summary of Significant Accounting Policies - Antidilutive Shares (Details) - USD ($) $ in Millions | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2020
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount | 16,182,699 | 10,633,631 | 16,128,591 | 9,742,355 |
Product warranty accrued liabilities | $ 0.2 |  | $ 0.2 |  | $ 0.2
Class C convertible preferred stock |  |  |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount | 5,283,411 |  | 5,283,411 |  |
Stock Options [Member] |  |  |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount | 5,727,495 | 5,823,629 | 5,673,387 | 4,932,353 |
Restricted stock units |  |  |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount | 361,791 |  | 361,791 |  |
Convertible Senior Notes [Member] |  |  |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount | 4,810,002 | 4,810,002 | 4,810,002 | 4,810,002 |

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