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Stock-based Compensation - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2024 | Sep. 30, 2023 | Sep. 30, 2024 | Sep. 30, 2023
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | $ 2,708 | $ 2,283 | $ 10,561 | $ 7,808
Stock options |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 1,506 | 1,017 | 5,137 | 3,035
RSUs and RSAs |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 1,109 | 942 | 3,578 | 3,441
Performance-contingent restricted stock units (“PSUs”) |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 0 | 292 | 247 | 1,408
Performance based options (“PBOs”) |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 0 | 32 | 1,357 | (76)
ESPP |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 93 | 0 | 242 | 0
Cost of product revenue |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 93 | 60 | 309 | 272
Research and development |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 690 | 450 | 2,151 | 1,978
Selling, general and administrative |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | $ 1,925 | $ 1,773 | $ 8,101 | $ 5,558

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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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