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Stock-based Compensation - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2023 | Mar. 31, 2022
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Stock-based compensation | $ 2,809 | $ 3,838
Stock options |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Stock-based compensation | 922 | 806
Compensation not yet recognized, stock options | 11,900 |
RSUs and RSAs |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Stock-based compensation | 1,126 | 1,162
Compensation not yet recognized, share-based awards other than options | 8,600 |
PSUs |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Stock-based compensation | 837 | 872
Compensation not yet recognized, share-based awards other than options | 1,100 |
PBOs |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Stock-based compensation | (76) | 998
Compensation not yet recognized, share-based awards other than options | 200 |
Cost of product revenue |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Stock-based compensation | 129 | 100
Research and development |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Stock-based compensation | 722 | 1,039
Selling, general and administrative |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |
Stock-based compensation | $ 1,958 | $ 2,699

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- Definition Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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