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Inventory - Schedule of Inventory (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Inventory Disclosure [Abstract]    
Raw materials $ 5,260 $ 4,286
Work in process 8,315 5,981
Finished goods 17,520 12,692
Inventory, net $ 31,095 $ 22,959