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Stock-based Compensation - Narrative (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2023 | Mar. 31, 2022
Stock-based compensation |  |
Proceeds from issuances of common stock from employee stock purchase plan | $ 169 | $ 203
Unrecognized compensation cost related to outstanding options | $ 61,072 |
Period over which unrecognized compensation cost is expected to be recognized as expense | 2 years 10 months 24 days |
Restricted stock units |  |
Stock-based compensation |  |
Vesting period (in years) | 4 years |
Total fair value of shares vested | $ 14,779 | 8,001
Employee stock purchase plan. |  |
Stock-based compensation |  |
Employee Stock Purchase Plan, Purchase Price Percentage | 85.00% |
Issuance for employee stock purchase plan, shares | 11,329 |
Proceeds from issuances of common stock from employee stock purchase plan | $ 169 |
Employee stock purchase plan compensation expenses | $ 46 | $ 32

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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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