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Inventory (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Inventory [Line Items]    
Raw materials $ 15,173 $ 16,000
Work in process 11,560 11,212
Finished goods 7,216 8,532
Total inventory 33,949 $ 35,744
DEFINITY    
Inventory [Line Items]    
Total inventory $ 3,200