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Stockholder's Equity - Stock-based Compensation Expense Allocation (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Allocated stock-based compensation expense $ 2,483 $ 2,476 $ 8,421 $ 6,927
Selling, general and administrative        
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Allocated stock-based compensation expense 2,398 2,399 8,236 6,784
Research and development        
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]        
Allocated stock-based compensation expense $ 85 $ 77 $ 185 $ 143