Stock-Based Compensation - Expenses (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Stock-based compensation expense
Total stock-based compensation expense	$ 4,340	$ 3,153
Research and development
Stock-based compensation expense
Total stock-based compensation expense	2,162	1,614
General and administrative
Stock-based compensation expense
Total stock-based compensation expense	$ 2,178	$ 1,539