Stock Option Plans (Tables)

6 Months Ended

Jun. 30, 2022

Share-based Compensation Arrangement by Share-based Payment Award [Line Items]

Summary of Shares Available for Issuance

	Number of Shares
Balances, December 31, 2021	2,477,212
Authorized	1,399,235
Granted / Awarded	(1,211,210)
Cancelled	72,465
Balances, June 30, 2022	2,737,702

Stock Option Activity

	Options Outstanding
	Number of	Weighted Average		Weighted Average ‎Remaining ‎Contractual Term		Aggregate Intrinsic
	Shares	Exercise Price		(Years)		Value
Balances, December 31, 2021	3,780,939	$	20.45		6.71	$	91,900
Options granted	527,323		36.49
Options exercised	(91,394)		5.36
Options cancelled	(41,568)		40.68
Balances, June 30, 2022	4,175,300	$	22.60		6.69	$	69,573
Vested and exercisable at June 30, 2022	2,967,252	$	15.99		5.91	$	65,856
Vested and expected to vest at June 30, 2022	4,175,300	$	22.60		6.69	$	69,573

Summary of RSU Activity

	Number of ‎Restricted ‎Stock Units		Weighted Average ‎Grant Date ‎Fair Value
Balances, December 31, 2021		530,274	$	53.01
Awards granted		683,887	$	36.46
Awards vested		(70,328)	$	49.45
Awards canceled		(30,897)	$	44.19
Balances, June 30, 2022		1,112,936	$	43.31
Expected to vest at June 30, 2022		1,112,936	$	43.31

Stock-Based Compensation Expense Relating to Stock Options to Employees and Nonemployees

	Three Months Ended				Six Months Ended
	June 30,				June 30,
	2022		2021		2022		2021
Cost of goods sold	$	278	$	151	$	499	$	309
Research and development expenses		1,302		636		2,371		1,325
Selling, general and administrative expenses		4,581		2,622		8,269		5,308
	$	6,161	$	3,409	$	11,139	$	6,942

Common Stock Options [Member]

Share-based Compensation Arrangement by Share-based Payment Award [Line Items]

Schedule of Fair Value Assumptions

	Three Months Ended		Six Months Ended
	June 30,		June 30,
	2022	2021	2022	2021
Expected term (in years)	5.25	5.25 - 6.25	5.25 - 6.25	5.25 - 6.25
Expected volatility	51.4%	46.6% - 47.0%	48.2% - 51.4%	45.0% - 50.4%
Risk-free interest rate	3.07%	0.93% - 1.08%	1.60% - 3.07%	0.41% - 1.08%
Dividend yield	—%	—%	—%	—%

ESPP [Member]

Share-based Compensation Arrangement by Share-based Payment Award [Line Items]

Schedule of Fair Value Assumptions

	Three Months Ended		Six Months Ended
	June 30,		June 30,
	2022	2021	2022	2021
Expected term (in years)	0.50	0.50	0.50	0.50
Expected volatility	74.5%	51.5%	51.6% - 74.5%	44.4% - 76.4%
Risk-free interest rate	1.51%	0.03%	0.07% - 1.51%	0.03% - 1.58%
Dividend yield	—%	—%	—%	—%