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Stockholders' Equity - Narrative (Details)
 3 Months Ended 6 Months Ended
Mar. 15, 2024
USD ($)
Jun. 30, 2024
USD ($)
vote
shares
Jun. 30, 2023
USD ($)
Jun. 30, 2024
USD ($)
vote
shares
Jun. 30, 2023
USD ($)
Dec. 31, 2023
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Common stock, shares authorized (in shares) | shares   200,000,000   200,000,000   200,000,000
Dividends declared       $ 0    
Number of votes for each share of common stock held | vote   1   1    
Options granted (in shares) | shares       895,125    
Options exercisable, aggregate intrinsic value   $ 3,700,000   $ 3,700,000    
Options vested and expenses to vest, intrinsic value   3,500,000   3,500,000    
Options vested and expenses to vest, intrinsic value Exercisable   3,500,000   3,500,000    
Stock-based compensation capitalized into inventory   500,000 $ 400,000 900,000 $ 800,000  
Stock-based compensation expense       11,593,000 10,500,000  
Cost of Goods and Services Sold            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Stock-based compensation capitalized into inventory   400,000 400,000 800,000 600,000  
Chief Executive Officer            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Stock-based compensation expense   $ 700,000   $ 1,100,000    
Share-based compensation, stock modification $ 6,300,000          
Inducement Grants | Chief Executive Officer            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Number of shares | shares   997,681   997,681    
Restricted Stock Units (RSUs)            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Number of shares | shares   3,197,736   3,197,736   2,244,903
Options outstanding, aggregate intrinsic value   $ 20,300,000   $ 20,300,000    
Fair value of shares vested   $ 2,600,000 $ 2,700,000 $ 4,200,000 $ 3,500,000  
Restricted Stock Units (RSUs) | Inducement Grants | Chief Executive Officer            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Number of shares | shares   331,156   331,156    
Stock Options And Restricted Stock Units            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Unrecognized compensation costs   $ 50,600,000   $ 50,600,000    
Weighted-average period for recognition of compensation costs       2 years 8 months 12 days    
Employee stock purchase plan            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Weighted-average period for recognition of compensation costs       1 month 6 days    
Non-option unrecognized compensation costs (less than)   $ 100,000   $ 100,000    
Nonqualified Stock Option | Inducement Grants | Chief Executive Officer            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Number of shares | shares   666,525   666,525