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Stock-based Compensation - Stock-based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Stock-based compensation $ 4,682 $ 2,716 $ 7,853 $ 5,525
Stock options        
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Stock-based compensation 2,117 1,096 3,631 2,018
RSUs and restricted stock awards (“RSAs”)        
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Stock-based compensation 1,152 1,373 2,469 2,499
Performance-contingent restricted stock units (“PSUs”)        
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Stock-based compensation 0 279 247 1,116
Performance based options (“PBOs”)        
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Stock-based compensation 1,341 (32) 1,357 (108)
ESPP        
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Stock-based compensation 72 0 149 0
Cost of product revenue        
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Stock-based compensation 101 83 216 212
Research and development        
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Stock-based compensation 641 806 1,461 1,528
Selling, general and administrative        
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Stock-based compensation $ 3,940 $ 1,827 $ 6,176 $ 3,785