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Stockholders' Equity - Summary of Recognized Share-based Compensation Cost (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Share-based compensation (Income) expense $ 1,626 $ 605 $ 3,774 $ 660
Selling, General and Administrative [Member]        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Share-based compensation (Income) expense 1,124 488 2,590 537
Research and Development [Member]        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Share-based compensation (Income) expense 463 $ 117 1,093 $ 122
Cost of Goods Sold [Member]        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Share-based compensation (Income) expense $ 39   $ 91