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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, 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