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Equity Incentive Plans - Summary of Share-Based Compensation Expense By Function (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | $ 1,899 | $ 165 | $ 3,107 | $ 291
Cost of Goods Sold |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | 22 | 6 | 46 | 11
Research and Development |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | 169 | 28 | 307 | 51
Selling, General and Administrative |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | $ 1,708 | $ 131 | $ 2,754 | $ 229

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