Income Taxes - Net deferred tax assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Deferred tax assets:
Net operating loss carryforwards	$ 23,210	$ 20,054
Research and development tax credit carryforwards	8,722	7,054
Lease liability	1,139	1,483
Deferred Revenue	3,268	2,160
Accrued expenses and other	4,314	3,194
Capitalization under Section 174(a)	3,857
Total deferred tax assets	44,510	33,945
Deferred tax liabilities:
Right-of-use asset	(1,000)	(1,314)
Intangible assets	(2,671)
Total deferred tax liabilities	(3,671)	(1,314)
Valuation allowance	(43,510)	(32,631)	$ (22,885)
Net deferred tax liabilities	$ (2,671)	$ 0