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Stock-Based Compensation - Stock-Based Compensation (Details) - Employee And Nonemployee Stock Option And Restricted Stock Units [Member] - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Employee Service Share Based Compensation Allocation Of Recognized Period Costs        
Stock-based compensation expense $ 10,077 $ 13,850 $ 22,359 $ 26,729
Stock-based compensation expense capitalized into inventory 193 301 324 614
Cost of Goods Sold        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs        
Stock-based compensation expense 236 216 361 371
Research and development        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs        
Stock-based compensation expense 3,370 4,576 8,831 9,534
Selling, General and Administrative Expenses        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs        
Stock-based compensation expense $ 6,471 $ 9,058 $ 13,167 $ 16,824