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Stock-based Compensation (Tables)
3 Months Ended
Mar. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of stock-based compensation expense Stock-based compensation expense is included in the unaudited condensed consolidated statements of operations as follows (in thousands):
 Three Months Ended March 31,
 20232022
Cost of product revenue$129 $100 
Research and development 722 1,039 
Selling, general and administrative1,958 2,699 
Total$2,809 $3,838 
Schedule of stock-based compensation expense by security types The following table presents total stock-based compensation expense by security type included in the unaudited condensed consolidated statements of operations (in thousands):
 Three Months Ended March 31,
 20232022
Stock options$922 $806 
RSUs and RSAs1,126 1,162 
PSUs837 872 
PBOs(76)998 
Total$2,809 $3,838