Property and Equipment, Net (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Property and Equipment
Total property and equipment	$ 25,373	$ 24,677
Less: accumulated depreciation and amortization	(21,626)	(21,126)
Property and equipment, net	3,747	3,551
Depreciation and amortization expense	2,896	3,068	$ 3,929
Laboratory equipment
Property and Equipment
Total property and equipment	9,250	8,581
Manufacturing equipment
Property and Equipment
Total property and equipment	2,558	2,571
Office furniture and equipment
Property and Equipment
Total property and equipment	3,454	3,362
Leasehold improvements
Property and Equipment
Total property and equipment	9,613	9,531
Construction in progress
Property and Equipment
Total property and equipment	498	632
Property and equipment
Property and Equipment
Depreciation and amortization expense	$ 1,400	$ 1,600	$ 2,000