Equity Incentive Plans - Stock-Based Compensation Expense Recognized (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 [Line Items]
Stock-based compensation expense	$ 3,489	$ 1,834	$ 9,600	$ 8,659
Selling, general and administrative
Stock-based Compensation [Line Items]
Stock-based compensation expense	2,574	1,373	6,965	6,102
Research and development
Stock-based Compensation [Line Items]
Stock-based compensation expense	$ 915	$ 461	$ 2,635	$ 2,557