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Stockholders' Equity - Summary of Recognized Share-based Compensation Cost (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2021 | Sep. 30, 2021 | Sep. 30, 2020
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |
Share-based compensation (Income) expense | $ 2,449 | $ 6,224 | $ 431
Selling, General and Administrative [Member] |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |
Share-based compensation (Income) expense | 1,655 | 4,245 | 425
Research and Development [Member] |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |
Share-based compensation (Income) expense | 734 | 1,827 | $ 6
Cost of Goods Sold [Member] |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |
Share-based compensation (Income) expense | $ 60 | $ 152 |

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