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Stock-based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	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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- 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

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