CONSOLIDATED STATEMENTS OF OPERATIONS AND COMPREHENSIVE (LOSS) INCOME - USD ($) shares in Thousands, $ in Thousands		12 Months Ended
		Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Revenue:
Total revenue	[1],[2]	$ 286,537	$ 401,325	$ 393,246
Cost of revenue:
Total cost of revenue		182,871	213,145	192,647
Gross profit		103,666	188,180	200,599
Operating expenses:
Research and development		85,243	84,362	84,370
Selling, general and administrative		86,903	85,563	92,016
Total operating expenses		172,146	169,925	176,386
(Loss) income from operations		(68,480)	18,255	24,213
Other income (expense):
Interest income		2,300	362	999
Interest expense		(17,620)	(14,958)	(16,895)
Gain on extinguishment of debt		2,728
Gain (loss) on foreign currency, net		1,730	(2,113)	452
Other income, net		752	1,948	980
Total other expense, net		(10,110)	(14,761)	(14,464)
(Loss) income before provision for (benefit from) income taxes		(78,590)	3,494	9,749
Provision for (benefit from) income taxes		615	287	(15,052)
Net (loss) income		(79,205)	3,207	24,801
Other comprehensive (loss) income---foreign currency translation adjustment, net of tax		(3,183)	541	2,559
Comprehensive (loss) income		$ (82,388)	$ 3,748	$ 27,360
Net (loss) income per share attributable to common stockholders:
Basic		$ (0.86)	$ 0.04	$ 0.30
Diluted		$ (0.86)	$ 0.04	$ 0.29
Weighted-average number of shares used to compute net (loss) income per share attributable to common stockholders:
Basic		91,596	85,253	83,465
Diluted		91,596	88,857	85,278
Product
Revenue:
Total revenue		$ 237,547	$ 353,942	$ 346,083
Cost of revenue:
Total cost of revenue		164,988	208,451	187,706
Service
Revenue:
Total revenue		48,990	47,383	47,163
Cost of revenue:
Total cost of revenue		5,080	$ 4,694	$ 4,941
Warranty Settlement Provision
Cost of revenue:
Total cost of revenue		$ 12,803

[1] Other than the United States, Canada and Australia, no individual countries represented 10% or more of the Company’s total revenue for any of the periods presented.

[2] Includes revenue of $18,004 during which a related party relationship existed during the year ended December 31, 2022 (see Note 16, Related Parties)