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Consolidated Statements of Operations and Comprehensive Loss - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Income Statement [Abstract]    
Revenue $ 81,056 $ 71,331
Cost of goods sold 11,881 12,361
Gross profit 69,175 58,970
Operating expenses:    
Research and development 17,556 22,859
Selling, general and administrative 108,893 120,065
Total operating expenses 126,449 142,924
Loss from operations (57,274) (83,954)
Interest expense (5,408) (4,466)
Other income (expense), net 7,245 2,225
Loss before income taxes (55,437) (86,195)
Provision for income taxes 110 47
Net loss and comprehensive loss $ (55,547) $ (86,242)
Net loss per share attributable to common stockholders-basic $ (1.14) $ (1.8)
Net loss per share attributable to common stockholders-diluted $ (1.14) $ (1.8)
Weighted-average shares of common stock outstanding-basic 48,628,940 47,849,058
Weighted-average shares of common stock outstanding-diluted 48,628,940 47,849,058