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Stock-based Compensation (Tables)
9 Months Ended
Sep. 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 September 30,Nine Months Ended September 30,
 2023202220232022
Cost of product revenue$60 $124 $272 $367 
Research and development 450 1,045 1,978 3,110 
Selling, general and administrative1,773 3,362 5,558 8,123 
Total$2,283 $4,531 $7,808 $11,600 
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 September 30,Nine Months Ended September 30,
 2023202220232022
Stock options$1,017 $1,679 $3,035 $3,279 
RSUs and RSAs942 1,290 3,441 3,785 
PSUs292 965 1,408 2,279 
PBOs32 597 (76)2,257 
Total$2,283 $4,531 $7,808 $11,600