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Stockholders' Equity - Summary of Recognized Share-based Compensation Cost (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Share-based compensation (Income) expense $ 7,941 $ 7,832
Selling, General and Administrative [Member]    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Share-based compensation (Income) expense 5,282 5,334
Research and Development [Member]    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Share-based compensation (Income) expense 2,449 2,311
Cost of Goods Sold [Member]    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Share-based compensation (Income) expense $ 210 $ 187