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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, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Share-based compensation expense | $ 3,069 | $ 1,661 | $ 6,014 | $ 3,322
Unrecognized compensation expense related to non-vested share-based compensation awards | 8,300 |  | $ 8,300 |
Cost expected to be recognized over weighted average period |  |  | 1 year 1 month 6 days |
Selling, general and administrative |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Share-based compensation expense | 1,930 | 911 | $ 3,971 | 2,099
Research and development |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Share-based compensation expense | 895 | 651 | 1,543 | 1,068
Cost of goods sold |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Share-based compensation expense | $ 244 | $ 99 | $ 500 | $ 155

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