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Condensed Consolidated Statements of Operations and Comprehensive Loss (Unaudited) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Income Statement [Abstract]        
Revenue $ 23,471 $ 17,229 $ 42,296 $ 32,111
Cost of goods sold 3,381 2,736 6,429 5,768
Gross profit 20,090 14,493 35,867 26,343
Operating expenses:        
Research and development 5,221 5,926 9,890 11,573
Selling, general and administrative 30,056 31,431 58,731 59,826
Total operating expenses 35,277 37,357 68,621 71,399
Loss from operations (15,187) (22,864) (32,754) (45,056)
Interest expense (1,349) (1,065) (2,625) (2,112)
Other income, net 1,790 95 3,580 80
Loss before income taxes (14,746) (23,834) (31,799) (47,088)
Provision for income taxes 8 9 22 18
Net loss and comprehensive loss $ (14,754) $ (23,843) $ (31,821) $ (47,106)
Net loss per share attributable to common stockholders-basic $ (0.3) $ (0.5) $ (0.66) $ (0.99)
Net loss per share attributable to common stockholders-diluted $ (0.3) $ (0.5) $ (0.66) $ (0.99)
Weighted-average shares of common stock outstanding-basic 48,536,310 47,701,451 48,471,153 47,635,840
Weighted-average shares of common stock outstanding-diluted 48,536,310 47,701,451 48,471,153 47,635,840