CONSOLIDATED STATEMENTS OF OPERATIONS AND COMPREHENSIVE INCOME (LOSS) - USD ($) shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Statement [Abstract]
Sales	$ 702,799	$ 498,830	$ 362,305
Cost of sales	326,584	238,310	168,093
Gross profit	376,215	260,520	194,212
Operating expenses:
Selling, general and administrative	261,508	204,903	165,735
Research and development	92,054	63,574	45,199
Total operating expenses	353,562	268,477	210,934
Operating income (loss)	22,653	(7,957)	(16,722)
Other income (expense), net:
Interest income and other, net	674	1,567	3,193
Interest expense	(6,040)	(12,805)	0
Change in fair value of common stock warrants	(1,386)	(17,087)	(11,075)
Total other expense, net	(6,752)	(28,325)	(7,882)
Income (loss) before income taxes	15,901	(36,282)	(24,604)
Income tax expense (benefit)	335	(1,900)	149
Net income (loss)	15,566	(34,382)	(24,753)
Other comprehensive income (loss):
Unrealized gain (loss) on short-term investments	(693)	(20)	77
Foreign currency translation gain (loss)	(143)	118	58
Comprehensive income (loss)	$ 14,730	$ (34,284)	$ (24,618)
Net income (loss) per share - basic (in dollars per share)	$ 0.25	$ (0.56)	$ (0.42)
Net income (loss) per share - diluted (in dollars per share)	$ 0.24	$ (0.56)	$ (0.42)
Weighted average shares used to compute basic net income (loss) per share (in shares)	63,000	60,990	58,507
Weighted average shares used to compute diluted net income (loss) per share (in shares)	64,349	60,990	58,507