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Stock-Based Compensation (Tables)
6 Months Ended
Jun. 30, 2023
Share-Based Payment Arrangement [Abstract]  
Summary of Classification of Stock Based Compensation Expense The following table presents classification of stock-based compensation expense within the unaudited condensed consolidated statements of operations:
Three Months Ended June 30,Six Months Ended June 30,
2023202220232022
Cost of sales$1,390 $1,528 $2,688 $2,816 
Research and development3,807 2,977 7,322 5,559 
Sales and marketing941 699 1,791 1,223 
General and administrative5,635 5,223 10,852 9,963 
Total stock-based compensation$11,773 $10,427 $22,653 $19,561 
Summary of Weighted Average Valuation Assumptions Used for Options
Following are the weighted average valuation assumptions used for option awards during the periods presented:
Six Months Ended June 30,
20232022
Valuation assumptions
Expected dividend yield— %— %
Expected volatility67 %56 %
Expected term (years)4.974.75
Risk-free interest rate3.77 %1.90 %