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Stock-based Compensation - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2025 | Sep. 30, 2024 | Sep. 30, 2025 | Sep. 30, 2024
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | $ 2,513 | $ 2,708 | $ 7,424 | $ 10,561
Stock options |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 1,455 | 1,506 | 4,289 | 5,137
Restricted stock units (“RSUs”) and RSAs |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 950 | 1,109 | 2,805 | 3,578
Performance-contingent restricted stock units (“PSUs”) |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 0 | 0 | 0 | 247
Performance based options (“PBOs”) |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 0 | 0 | 0 | 1,357
ESPP |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 108 | 93 | 330 | 242
Cost of product revenue |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 16 | 93 | 134 | 309
Research and development |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | 675 | 690 | 2,064 | 2,151
Selling, general and administrative |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock-based compensation | $ 1,822 | $ 1,925 | $ 5,226 | $ 8,101

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