Stock-Based Compensation - Expenses (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Stock-based compensation expense
Total stock-based compensation expense	$ 15,611	$ 8,953	$ 3,915
Research and development
Stock-based compensation expense
Total stock-based compensation expense	8,082	4,525	1,933
General and administrative
Stock-based compensation expense
Total stock-based compensation expense	$ 7,529	$ 4,428	$ 1,982