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Stock-based Compensation - Total Stock-based Compensation Recognized (Details) - Options, TRSUs, PSUs and the ESPP - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021
Stock-based compensation expense: |  |
Stock-based compensation expense | $ 13,125 | $ 13,167
Research and Development Expense [Member] |  |
Stock-based compensation expense: |  |
Stock-based compensation expense | 5,544 | 5,797
General and Administrative Expense [Member] |  |
Stock-based compensation expense: |  |
Stock-based compensation expense | $ 7,581 | $ 7,370

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