Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Stock-based compensation
Total stock-based compensation expense	$ 1,442	$ 3,717	$ 4,560	$ 6,021
Selling, general and administrative
Stock-based compensation
Total stock-based compensation expense	1,308	2,422	3,502	4,240
Research and development
Stock-based compensation
Total stock-based compensation expense	$ 134	$ 1,295	$ 1,058	$ 1,781