Statements of Operations and Comprehensive Loss - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Statements of Operations and Comprehensive Loss [Abstract]
Revenue	$ 138,638	$ 101,475	$ 75,227
Cost of goods sold	37,876	25,446	21,291
Gross profit	100,762	76,029	53,936
Operating expenses:
Research and development	36,449	27,110	21,271
Selling, general and administrative	116,317	96,387	75,524
Total operating expenses	152,766	123,497	96,795
Loss from operations	(52,004)	(47,468)	(42,859)
Interest income	2,527	198	1,104
Interest expense	(5,098)	(2,518)	(4,411)
Loss on debt extinguishment	(245)		(1,119)
Other income (expense), net	(190)	(23)	(80)
Net loss	(55,010)	(49,811)	(47,365)
Other comprehensive loss:
Change in unrealized gain (loss) on investments, net	(166)	(39)	37
Net change in other comprehensive loss	(166)	(39)	37
Net loss and comprehensive loss	$ (55,176)	$ (49,850)	$ (47,328)
Net loss per share, basic	$ (1.54)	$ (1.44)	$ (1.44)
Net loss per share, diluted	$ (1.54)	$ (1.44)	$ (1.44)
Weighted average common shares used to compute net loss per share, basic	35,775,672	34,635,358	32,965,539
Weighted average common shares used to compute net loss per share, diluted	35,775,672	34,635,358	32,965,539