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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
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Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | $ 3,223 | $ 1,899 | $ 9,729 | $ 3,107
Cost of Goods Sold |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | 39 | 22 | 117 | 46
Research and Development Expenses |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | 259 | 169 | 1,012 | 307
Selling, General and Administrative Expenses |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | $ 2,925 | $ 1,708 | $ 8,600 | $ 2,754

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