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Stockholders' Equity - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended
--- | ---
Mar. 31, 2023 | Mar. 31, 2022
Stock-based compensation expense |  |
Total stock based compensation expense | $ 1,064 | $ 1,152
Options vested, fair value | 1,900 | 1
Research and Development Expense |  |
Stock-based compensation expense |  |
Total stock based compensation expense | 394 | 335
Selling, general and administrative expense |  |
Stock-based compensation expense |  |
Total stock based compensation expense | 670 | $ 817
Options to purchase Common Stock |  |
Stock-based compensation expense |  |
Unrecognized compensation cost | $ 10,100 |
Weighted-average remaining vesting period for recognition | 2 years 8 months 12 days |
Options outstanding, weighted average contractual life | 8 years 6 months |

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + 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 (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Fair value of options vested. Excludes equity instruments other than options, for example, but not limited to, share units, stock appreciation rights, restricted stock. + 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 (d)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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