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Stock Compensation Plans (Tables)
 3 Months Ended
Mar. 31, 2022
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 March 31,
20222021
Cost of sales$51 $42 
Research and development1,581 1,061 
General and administrative2,211 1,372 
Sales and marketing1,550 2,019 
Total stock-based compensation$5,393 $4,494