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Stockholders' Equity (Deficit) - Summary of Recognized Share-based Compensation Cost (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Share-based compensation (Income) expense | $ 1,255 | $ 2,449 | $ 4,346 | $ 6,224
Selling general and administrative [Member] |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Share-based compensation (Income) expense | 857 | 1,655 | 2,816 | 4,245
Research and development [Member] |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Share-based compensation (Income) expense | 346 | 734 | 1,370 | 1,827
Cost of goods sold [Member] |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Share-based compensation (Income) expense | $ 52 | $ 60 | $ 160 | $ 152

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