Stock Incentive Plans and Stock-Based Compensation - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	$ 4,766	$ 1,653	$ 9,679	$ 3,230
Cost of sales (exclusive of amortization of acquired intangible asset)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	415	200	925	406
Research and development
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	1,073	231	2,131	465
Selling, general and administrative
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total stock-based compensation expense	$ 3,278	$ 1,222	$ 6,623	$ 2,359