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Stock Compensation Plans (Tables)
9 Months Ended
Sep. 30, 2021
Share-based Payment Arrangement [Abstract]  
Schedule of stock-based compensation Stock-based compensation related to the Company's stock-based awards was recorded as an expense and allocated as follows (in thousands):
Three months ended September 30,Nine months ended September 30,
2021202020212020
Cost of sales$85 $116 $190 $176 
Research and development1,508 820 4,168 1,884 
General and administrative2,562 1,406 6,431 2,521 
Sales and marketing1,807 193 5,296 485 
Total stock-based compensation$5,962 $2,535 $16,085 $5,066