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Stockholders' Equity - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Stock-based compensation expense
Total stock based compensation expense	$ 1,124	$ 1,064
Options vested, fair value	1,400	1,900
Research and Development Expense
Stock-based compensation expense
Total stock based compensation expense	389	394
Selling, general and administrative expense
Stock-based compensation expense
Total stock based compensation expense	735	$ 670
Options to purchase Common Stock
Stock-based compensation expense
Unrecognized compensation cost	$ 10,200
Weighted-average remaining vesting period for recognition	2 years 1 month 6 days
Options outstanding, weighted average contractual life	8 years 1 month 6 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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