Stock-based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Schedule of stock-based compensation expense
Stock-based compensation	$ 14,531	$ 11,593	$ 7,728
Stock options
Schedule of stock-based compensation expense
Stock-based compensation	4,167	2,764	2,381
RSUs and RSAs
Schedule of stock-based compensation expense
Stock-based compensation	4,807	2,768	2,231
PSUs
Schedule of stock-based compensation expense
Stock-based compensation	3,268	2,333	1,160
PBOs
Schedule of stock-based compensation expense
Stock-based compensation	2,289	3,728	1,956
Costs of product revenue
Schedule of stock-based compensation expense
Stock-based compensation	452	224	104
Research and development
Schedule of stock-based compensation expense
Stock-based compensation	3,907	2,663	1,843
Selling, general and administrative
Schedule of stock-based compensation expense
Stock-based compensation	$ 10,172	$ 8,706	$ 5,781