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Condensed Consolidated Statements of Operations and Comprehensive Loss (Unaudited) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Income Statement [Abstract]    
Revenue $ 19,265 $ 18,824
Cost of goods sold 2,793 3,048
Gross profit 16,472 15,776
Operating expenses:    
Research and development 4,636 4,669
Selling, general and administrative 26,559 28,675
Total operating expenses 31,195 33,344
Loss from operations (14,723) (17,568)
Investment income 1,648 1,810
Interest expense (1,204) (1,276)
Loss on debt extinguishment (1,962) 0
Other expense, net (8) (19)
Loss before income taxes (16,249) (17,053)
Provision for income taxes 17 14
Net loss attributable to common stockholders $ (16,266) $ (17,067)
Net loss per share attributable to common stockholders-basic $ (0.33) $ (0.35)
Net loss per share attributable to common stockholders-diluted $ (0.33) $ (0.35)
Weighted-average shares used in computing net loss per share attributable to common stockholders-basic 49,486,263 48,405,271
Weighted-average shares used in computing net loss per share attributable to common stockholders-diluted 49,486,263 48,405,271