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Stock Compensation - Stock Options Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended
Apr. 30, 2020
Mar. 31, 2022
Mar. 31, 2021
ESPP      
Stock compensation      
Maximum annual contributions per employee, as a percentage of base salary 10.00%    
Amount of maximum annual contributions per employee $ 25,000    
Purchase discount 15.00%    
Duration of offering periods 6 months    
Shares issued (in shares)   256,999  
Shares reserved for future issuance (in shares)   568,001  
Stock-based compensation expense   $ 100,000 $ 300,000
Stock options      
Stock compensation      
Stock-based compensation expense   1,500,000 3,700,000
Stock-based compensation capitalized into inventory   100,000 300,000
Unrecognized stock-based compensation expense, options   $ 13,700,000  
Weighted-average period over which remaining unrecognized compensation cost will be recognized   2 years 9 months 18 days  
PBSOs      
Stock compensation      
Stock-based compensation expense   $ 100,000  
Unrecognized stock-based compensation expense, options   $ 600,000  
Weighted-average period over which remaining unrecognized compensation cost will be recognized   1 year 8 months 12 days  
RSUs      
Stock compensation      
Stock-based compensation expense   $ 1,900,000 1,800,000
Stock-based compensation capitalized into inventory   100,000 $ 100,000
Unrecognized stock-based compensation expense, options   $ 19,900,000  
Weighted-average period over which remaining unrecognized compensation cost will be recognized   3 years 1 month 6 days  
PBRSUs      
Stock compensation      
Stock-based compensation expense   $ 800,000  
Stock-based compensation capitalized into inventory   $ 100,000  
Weighted-average period over which remaining unrecognized compensation cost will be recognized   2 years 1 month 6 days  
Unrecognized stock-based compensation expense, RSUs   $ 4,400,000