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Condensed Consolidated Statements of Operations and Comprehensive Loss (Unaudited) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Income Statement [Abstract]        
Revenue $ 20,009 $ 18,677 $ 62,305 $ 50,788
Cost of goods sold 2,677 2,928 9,105 8,696
Gross profit 17,332 15,749 53,200 42,092
Operating expenses:        
Research and development 4,239 6,053 14,129 17,626
Selling, general and administrative 26,504 31,541 85,235 91,367
Total operating expenses 30,743 37,594 99,364 108,993
Loss from operations (13,411) (21,845) (46,164) (66,901)
Interest expense (1,432) (1,131) (4,057) (3,243)
Other income, net 1,886 766 5,465 846
Loss before income taxes (12,957) (22,210) (44,756) (69,298)
Provision for income taxes 78 19 100 37
Net loss and comprehensive loss $ (13,035) $ (22,229) $ (44,856) $ (69,335)
Net loss per share attributable to common stockholders-basic $ (0.27) $ (0.46) $ (0.92) $ (1.45)
Net loss per share attributable to common stockholders-diluted $ (0.27) $ (0.46) $ (0.92) $ (1.45)
Weighted-average shares of common stock outstanding-basic 48,671,049 47,910,541 48,538,517 47,728,845
Weighted-average shares of common stock outstanding-diluted 48,671,049 47,910,541 48,538,517 47,728,845