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Stock-based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Schedule of stock-based compensation expense |  |  |
Stock-based compensation | $ 9,971 | $ 14,531 | $ 11,593
Stock options |  |  |
Schedule of stock-based compensation expense |  |  |
Stock-based compensation | 3,962 | 4,167 | 2,764
RSUs and RSAs |  |  |
Schedule of stock-based compensation expense |  |  |
Stock-based compensation | 4,447 | 4,807 | 2,768
PSUs |  |  |
Schedule of stock-based compensation expense |  |  |
Stock-based compensation | 1,649 | 3,268 | 2,333
PBOs |  |  |
Schedule of stock-based compensation expense |  |  |
Stock-based compensation | (112) | 2,289 | 3,728
ESPP |  |  |
Schedule of stock-based compensation expense |  |  |
Stock-based compensation | 25 | 0 | 0
Costs of product revenue |  |  |
Schedule of stock-based compensation expense |  |  |
Stock-based compensation | 354 | 452 | 224
Research and development |  |  |
Schedule of stock-based compensation expense |  |  |
Stock-based compensation | 2,631 | 3,907 | 2,663
Selling, general and administrative |  |  |
Schedule of stock-based compensation expense |  |  |
Stock-based compensation | $ 6,986 | $ 10,172 | $ 8,706

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