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Stockholders' Equity - Summary of Recognized Share-based Compensation Cost (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2022 | Mar. 31, 2021
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |
Share-based compensation (Income) expense | $ 1,474 | $ 2,148
Selling, General and Administrative [Member] |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |
Share-based compensation (Income) expense | 919 | 1,466
Research and Development [Member] |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |
Share-based compensation (Income) expense | 503 | 630
Cost of Goods Sold [Member] |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |
Share-based compensation (Income) expense | $ 52 | $ 52

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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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