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Summary of Significant Accounting Policies - Antidilutive Shares (Details) - USD ($) $ in Millions | 3 Months Ended |
--- | --- | ---
Mar. 31, 2022 | Mar. 31, 2021 | Dec. 31, 2021
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount | 14,914,036 | 16,546,756 |
Product warranty accrued liabilities | $ 0.5 |  | $ 0.5
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 | 5,497,939 | 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 | 4,699,476 | 6,149,186 |
Restricted stock units |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount | 693,887 | 304,157 |
Senior Notes 2025 |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items] |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount | 599,954 | 4,810,002 |
Senior Notes 2026 | 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 | 3,422,780 |  |

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