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Stockholders' Equity - Summary of Recognized Share-based Compensation Cost (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Share-based compensation expense | $ 1,661 | $ 2,119 | $ 3,322 | $ 4,390
Unrecognized compensation expense related to non-vested share-based compensation awards | 10,000 |  | $ 10,000 |
Cost expected to be recognized over weighted average period |  |  | 2 years 7 months 6 days |
Selling, general and administrative |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Share-based compensation expense | 911 | 1,467 | $ 2,099 | 2,866
Research and development |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Share-based compensation expense | 651 | 613 | 1,068 | 1,416
Cost of goods sold |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Share-based compensation expense | $ 99 | $ 39 | $ 155 | $ 108

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