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Stock-Based Compensation - Summary of Total Stock-based Compensation Expense by Function (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
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | $ 6,048 | $ 4,862 | $ 8,913 | $ 11,760
Sales and Distribution Expenses |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 2,882 | 1,569 | 3,229 | 2,524
Research and Development Expense |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | 633 | 1,221 | 907 | 2,104
General and Administrative Expense |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Stock-based compensation expense | $ 2,533 | $ 2,072 | $ 4,777 | $ 7,132

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