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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