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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