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Stockholders' Equity - Total Stock-Based Compensation (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 16,445 | $ 10,530
Stock options and restricted stock units |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | 15,807 | 7,959
ESPP |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | 638 | 2,571
Cost of goods sold |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | 686 | 587
Research and development |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | 2,190 | 1,278
Selling, general and administrative |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Stock-based compensation expense | $ 13,569 | $ 8,665

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