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Stockholders' Equity (Tables)
6 Months Ended
Jun. 30, 2021
Equity [Abstract]  
Summary of stock-based compensation The following table summarizes our stock-based compensation by account:
Three Months Ended June 30,Six Months Ended June 30,
 2021202020212020
 (in thousands)
Stock-based compensation capitalized in inventory$63 $59 $104 $129 
Cost of sales16 15 26 38 
Research and development3,825 2,794 7,330 5,399 
Selling, general and administrative7,227 5,680 13,813 10,970 
Total stock-based compensation$11,131 $8,548 $21,273 $16,536