Consolidated Statements of Comprehensive Loss (Parenthetical) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock-based compensation	$ 14,300	$ 11,500	$ 10,600
Other Expenses	(13,101)	(2,780)	(802)
Research and Development Expense
Stock-based compensation	5,139	4,253	4,284
Selling, General and Administrative Expenses
Stock-based compensation	$ 9,201	$ 7,267	$ 6,293