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Stock-based Compensation (Tables)
 6 Months Ended
Jun. 30, 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 June 30,Six Months Ended June 30,
 2023202220232022
Cost of product revenue$83 $143 $212 $243 
Research and development 806 1,026 1,528 2,065 
Selling, general and administrative1,827 2,062 3,785 4,761 
Total$2,716 $3,231 $5,525 $7,069 
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 June 30,Six Months Ended June 30,
 2023202220232022
Stock options$1,096 $794 $2,018 $1,600 
RSUs and RSAs1,373 1,333 2,499 2,495 
PSUs279 442 1,116 1,314 
PBOs(32)662 (108)1,660 
Total$2,716 $3,231 $5,525 $7,069