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Stock Compensation - Stock Options Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 6 Months Ended
Jun. 30, 2022
Apr. 30, 2020
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
May 31, 2022
Stock Option And Incentive Plan 2022              
Stock compensation              
Number of commons stock shares available for issuance (in shares)             4,400,000
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   568,001   568,001    
Stock-based compensation expense     $ 100,000 $ 100,000 $ 200,000 $ 400,000  
Stock options              
Stock compensation              
Stock-based compensation expense     1,400,000 6,200,000 2,900,000 9,900,000  
Stock-based compensation capitalized into inventory     100,000 200,000 200,000 500,000  
Unrecognized stock-based compensation expense, options $ 10,500,000   10,500,000   $ 10,500,000    
Weighted-average period over which remaining unrecognized compensation cost will be recognized         2 years 7 months 6 days    
PBSOs              
Stock compensation              
Stock-based compensation expense     100,000   $ 200,000    
Unrecognized stock-based compensation expense, options 2,100,000   2,100,000   $ 2,100,000    
Weighted-average period over which remaining unrecognized compensation cost will be recognized         1 year 10 months 24 days    
RSUs              
Stock compensation              
Stock-based compensation expense     1,700,000 2,200,000 $ 3,600,000 4,000,000.0  
Stock-based compensation capitalized into inventory     200,000 $ 100,000 300,000 $ 200,000  
Unrecognized stock-based compensation expense, options 16,800,000   16,800,000   $ 16,800,000    
Weighted-average period over which remaining unrecognized compensation cost will be recognized         2 years 10 months 24 days    
PBRSUs              
Stock compensation              
Stock-based compensation expense     300,000   $ 1,100,000    
Stock-based compensation capitalized into inventory     100,000   $ 100,000    
Weighted-average period over which remaining unrecognized compensation cost will be recognized         1 year 10 months 24 days    
Unrecognized stock-based compensation expense, RSUs $ 2,900,000   $ 2,900,000   $ 2,900,000