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Stockholders' Equity - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Stock-based compensation expense
Total stock based compensation expense	$ 1,581	$ 1,055	$ 2,645	$ 2,207
Options vested, fair value			3,200	3,000
Research and Development Expense
Stock-based compensation expense
Total stock based compensation expense	297	126	691	460
Selling, general and administrative expense
Stock-based compensation expense
Total stock based compensation expense	1,284	$ 929	1,954	$ 1,747
Options to purchase Common Stock
Stock-based compensation expense
Unrecognized compensation cost	$ 8,400		$ 8,400
Weighted-average remaining vesting period for recognition			2 years 6 months
Options outstanding, weighted average contractual life			8 years 4 months 24 days

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- Definition

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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Amount of cost to be recognized for option under share-based payment arrangement.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Fair value of options vested. Excludes equity instruments other than options, for example, but not limited to, share units, stock appreciation rights, restricted stock.

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