Composition of Other Balance Sheet Items - Accrued Payable and Accrued Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Accounts payable	$ 11,544	$ 10,543
Accrued sales & marketing	15,978	16,783
Accrued manufacturing expenses	14,943	15,216
Accrued compensation, benefits, & related accruals	14,433	16,963
Accrued royalties	11,892	12,022
Accrued R&D expenses	8,158	7,490
Operating lease liabilities, current portion	7,576	6,791
Other accrued expenses	10,821	10,534
Total	$ 95,345	$ 96,342