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Stock-Based Compensation - Summary of Total Stock-Based Compensation Expense Recognized (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | $ 1,672 | $ 1,573 | $ 4,916 | $ 5,323
Cost of Sales | Product |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | 57 | 46 | 163 | 168
Cost of Sales | Service |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | 33 | 27 | 95 | 95
Selling, General and Administrative Expenses |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | 1,423 | 1,373 | 4,197 | 4,580
Research and Development Expense |  |  |  |
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] |  |  |  |
Total stock-based compensation expense | $ 159 | $ 127 | $ 461 | $ 480

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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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