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Stock-based Compensation - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | $ 2,283 | $ 4,531 | $ 7,808 | $ 11,600
Stock options |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 1,017 | 1,679 | 3,035 | 3,279
RSUs and RSAs |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 942 | 1,290 | 3,441 | 3,785
PSUs |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 292 | 965 | 1,408 | 2,279
PBOs |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 32 | 597 | (76) | 2,257
Cost of product revenue |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 60 | 124 | 272 | 367
Research and development |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 450 | 1,045 | 1,978 | 3,110
Selling, general and administrative |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | $ 1,773 | $ 3,362 | $ 5,558 | $ 8,123

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- Definition Amount of noncash expense for share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 45 -Paragraph 28 -Subparagraph (a) -SubTopic 10 -Topic 230 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482740/230-10-45-28 + Details
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