Stock Plans and Stock-Based Compensation -Schedule of Recognized Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Compensation expense:
Stock-based compensation expense	$ 1,556	$ 1,592	$ 4,580	$ 3,292
Research and Development
Compensation expense:
Stock-based compensation expense	613	1,108	2,044	(240)
General and Administrative
Compensation expense:
Stock-based compensation expense	$ 943	$ 484	$ 2,536	$ 3,532