Stockholders' Equity - Stock-Based Compensation Expense Recognized (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Stock Options
Total stock-based compensation expense	$ 5,997	$ 2,749
Cost of goods sold
Stock Options
Total stock-based compensation expense	79	53
Research and development
Stock Options
Total stock-based compensation expense	1,040	345
Selling, general and administrative
Stock Options
Total stock-based compensation expense	4,878	2,351
Stock options
Stock Options
Total stock-based compensation expense	5,657	2,575
Restricted stock units
Stock Options
Total stock-based compensation expense	19	0
Employee stock purchase plan
Stock Options
Total stock-based compensation expense	$ 321	$ 174