Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Stock-based compensation
Total stock-based compensation expense	$ 1,455	$ 1,598
Selling, general and administrative
Stock-based compensation
Total stock-based compensation expense	1,358	1,152
Research and development
Stock-based compensation
Total stock-based compensation expense	$ 97	$ 446