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Stockholders' Equity (Deficit) - Summary of Recognized Share-based Compensation Cost (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Share-based compensation (Income) expense $ 1,473 $ 1,626 $ 3,091 $ 3,774
Selling general and administrative [Member]        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Share-based compensation (Income) expense 918 1,124 1,958 2,590
Research and development [Member]        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Share-based compensation (Income) expense 503 463 1,025 1,093
Cost of goods sold [Member]        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Share-based compensation (Income) expense $ 52 $ 39 $ 108 $ 91