Condensed Consolidated Statements of Operations and Comprehensive Loss (Unaudited) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Income Statement [Abstract]
Total revenues, net	$ 36,129	$ 29,313	$ 99,275	$ 79,468
Costs and expenses:
Cost of goods sold	6,929	7,899	17,450	20,776
Selling, general, and administrative	33,878	34,656	93,551	101,796
Research and development	21,994	19,132	66,726	54,990
Total costs and expenses	62,801	61,687	177,727	177,562
Loss from operations	(26,672)	(32,374)	(78,452)	(98,094)
Other expense, net	(59)	(7,259)	(2,800)	(22,142)
Loss before income taxes	(26,731)	(39,633)	(81,252)	(120,236)
Income tax expense	95	58	836	107
Net loss	$ (26,826)	$ (39,691)	$ (82,088)	$ (120,343)
Net loss per common share—basic (in dollars per share)	$ (0.56)	$ (0.86)	$ (1.72)	$ (2.60)
Net loss per common share—diluted (in dollars per share)	$ (0.56)	$ (0.86)	$ (1.72)	$ (2.60)
Weighted average number of common shares outstanding—basic (in shares)	47,819,936	46,342,905	47,635,854	46,217,404
Weighted average number of common shares outstanding—diluted (in shares)	47,819,936	46,342,905	47,635,854	46,217,404
Net loss	$ (26,826)	$ (39,691)	$ (82,088)	$ (120,343)
Unrealized (loss) gain on available-for-sale investments, net	(10)	2	(677)	(7)
Comprehensive loss	$ (26,836)	$ (39,689)	$ (82,765)	$ (120,350)
Revenue from Contract with Customer, Product and Service [Extensible Enumeration]	Product [Member]	Product [Member]	Product [Member]	Product [Member]