Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Stock-based compensation
Total stock-based compensation expense	$ 1,520	$ 1,350	$ 3,118	$ 2,304
Selling, general and administrative
Stock-based compensation
Total stock-based compensation expense	1,042	1,030	2,194	1,818
Research and development
Stock-based compensation
Total stock-based compensation expense	$ 478	$ 320	$ 924	$ 486