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Summary of Significant Accounting Policies - Antidilutive Shares (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount | 15,290,040 | 17,205,023 | 4,390,017
Product warranty accrued liabilities | $ 0.5 | $ 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 | 5,443,505 | 6,474,135 |
Stock Options [Member] |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount | 5,449,952 | 5,920,886 | 3,636,806
Restricted stock units |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount | 373,849 |  |
Warrants [Member] |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount |  |  | 753,211
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 | 4,022,734 | 4,810,002 |

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