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Stockholders' Equity - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Stock-based compensation expense |  |  |  |
Total stock based compensation expense | $ 940 | $ 362 | $ 2,244 | $ 821
Options vested, fair value |  |  | 1,200 | 800
Research and Development Expense |  |  |  |
Stock-based compensation expense |  |  |  |
Total stock based compensation expense | 174 | 104 | 286 | 251
Selling, general and administrative expense |  |  |  |
Stock-based compensation expense |  |  |  |
Total stock based compensation expense | 766 | $ 258 | 1,958 | $ 570
Options to purchase Common Stock |  |  |  |
Stock-based compensation expense |  |  |  |
Unrecognized compensation cost | $ 10,100 |  | $ 10,100 |
Weighted-average remaining vesting period for recognition |  |  | 3 years 3 months 18 days |
Options outstanding, weighted average contractual life |  |  | 8 years 10 months 24 days |

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