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Condensed Consolidated Statements of Operations and Comprehensive Loss (Unaudited) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Income Statement [Abstract]    
Revenue $ 18,824 $ 14,881
Cost of goods sold 3,048 3,033
Gross profit 15,776 11,848
Operating expenses:    
Research and development 4,669 5,646
Selling, general and administrative 28,675 28,395
Total operating expenses 33,344 34,041
Loss from operations (17,568) (22,193)
Interest expense (1,276) (1,046)
Other (expense) income, net 1,791 (15)
Loss before income taxes (17,053) (23,254)
Provision for income taxes 14 9
Net loss and comprehensive loss $ (17,067) $ (23,263)
Net loss per share attributable to common stockholders-basic $ (0.35) $ (0.49)
Net loss per share attributable to common stockholders-diluted $ (0.35) $ (0.49)
Weighted-average shares of common stock outstanding-basic 48,405,271 47,569,499
Weighted-average shares of common stock outstanding-diluted 48,405,271 47,569,499