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Stock-based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2024 | Dec. 31, 2023 | Dec. 31, 2022
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation | $ 13,087 | $ 9,971 | $ 14,531
Stock options |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation | 6,423 | 3,962 | 4,167
RSUs and RSAs |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation | 4,717 | 4,447 | 4,807
PSUs |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation | 247 | 1,649 | 3,268
PBOs |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation | 1,357 | (112) | 2,289
ESPP |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation | 343 | 25 | 0
Costs of product revenue |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation | 429 | 354 | 452
Research and development |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation | 2,928 | 2,631 | 3,907
Selling, general and administrative |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation | $ 9,730 | $ 6,986 | $ 10,172

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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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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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