Consolidated Statements of Operations - USD ($) shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Revenue:
Total revenue	$ 127,262	$ 145,085	$ 117,316
Costs and expenses:
Cost of product revenue	65,475	68,304	52,409
Research and development	70,841	69,504	62,857
Selling, general and administrative	143,129	115,503	90,097
Total costs and expenses	279,445	253,311	205,363
Loss from operations	(152,183)	(108,226)	(88,047)
Other income (expense):
Interest income	2,409	649	1,744
Interest expense	(7,535)	(7,490)	(15,408)
Other expense, net	(1,917)	(20)	(971)
Loss on extinguishment of debt and termination of revolving loan facility	0	0	(7,143)
Total other income (expense), net	(7,043)	(6,861)	(21,778)
Net loss before provision for income taxes	(159,226)	(115,087)	(109,825)
Provision for income taxes	(317)	(167)	(253)
Net loss	$ (159,543)	$ (115,254)	$ (110,078)
Net loss per share-basic (in dollars per share)	$ (3.44)	$ (2.54)	$ (2.82)
Net loss per share-diluted (in dollars per share)	$ (3.44)	$ (2.54)	$ (2.82)
Weighted average shares used in computing basic net loss per share (in shares)	46,406	45,299	39,083
Weighted average shares used in computing diluted net loss per share (in shares)	46,406	45,299	39,083
Service revenue
Revenue:
Total revenue	$ 19,306	$ 17,623	$ 19,389
Costs and expenses:
Cost of product revenue	15,271	14,636	7,408
Total product revenue
Revenue:
Total revenue	107,956	127,462	97,927
Costs and expenses:
Cost of product revenue	$ 50,204	$ 53,668	$ 45,001