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Stock-Based Compensation - Summary of Total Stock-Based Compensation Expense Recognized (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | $ 1,637 | $ 1,430 | $ 3,244 | $ 3,750
Cost of Sales | Product |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | 54 | 47 | 106 | 122
Cost of Sales | Service |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | 32 | 27 | 62 | 68
Selling, General and Administrative Expenses |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | 1,397 | 1,223 | 2,774 | 3,207
Research and Development Expense |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | $ 154 | $ 133 | $ 302 | $ 353

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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