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Stock-based Compensation (Tables)
 3 Months Ended
Mar. 31, 2024
Share-Based Payment Arrangement [Abstract]  
Schedule of stock-based compensation expense
Stock-based compensation expense is included in the unaudited condensed consolidated statements of operations as follows (in thousands):
 Three Months Ended March 31,
 20242023
Cost of product revenue$115 $129 
Research and development 820 722 
Selling, general and administrative2,236 1,958 
Total$3,171 $2,809 
Schedule of stock-based compensation expense by security types
The following table presents total stock-based compensation expense by security type included in the unaudited condensed consolidated statements of operations (in thousands):
 Three Months Ended March 31,
 20242023
Stock options$1,514 $922 
RSUs and RSAs1,317 1,126 
PSUs247 837 
PBOs16 (76)
ESPP77 — 
Total$3,171 $2,809