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Condensed Consolidated Statements of Cash Flows (Unaudited) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Cash flows from operating activities    
Net loss $ (17,067) $ (23,263)
Adjustments to reconcile net loss to net cash used in operating activities:    
Depreciation 146 179
Accretion of debt discount and amortization of debt issuance costs 144 161
Stock-based compensation expense 3,523 2,974
Provision for doubtful accounts receivable (250) (60)
Provision for excess and obsolete inventories 12 8
Noncash operating lease expense 242 121
Loss on disposal of property and equipment 66 46
Changes in operating assets and liabilities:    
Accounts receivable (959) (1,180)
Inventory (1,036) (615)
Prepaid expenses and other current assets 593 1,472
Other noncurrent assets (13) 10
Accounts payable 878 (248)
Accrued compensation (2,394) (2,129)
Accrued and other current liabilities (1,345) 472
Other noncurrent liabilities 77 86
Net cash used in operating activities (17,383) (21,966)
Cash flows from investing activities    
Purchases of property and equipment (126) (227)
Net cash used in investing activities (126) (227)
Cash flows from financing activities    
Proceeds from exercise of common stock options 49 92
Taxes paid on the net share settlement of restricted stock units (205) 0
Net cash provided by (used in) financing activities (156) 92
Net change in cash and cash equivalents (17,665) (22,101)
Cash and cash equivalents at beginning of period 185,000 260,687
Cash and cash equivalents at end of period 167,335 238,586
Supplemental disclosure of cash flow information    
Cash paid for interest 1,002 766
Supplemental noncash disclosure    
Acquisition of property and equipment included in accounts payable and accrued liabilities $ 10 $ 418