Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Stock-based compensation
Total stock-based compensation expense	$ 1,643	$ 1,520	$ 3,098	$ 3,118
Selling, general and administrative
Stock-based compensation
Total stock-based compensation expense	1,567	1,042	2,925	2,194
Research and development
Stock-based compensation
Total stock-based compensation expense	$ 76	$ 478	$ 173	$ 924