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Stock Option Plan and Stock-based Compensation - Stock Based Compensation Expense (Details) - Options - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | $ 2,567 | $ 1,820 | $ 4,677 | $ 3,156
Research and development |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | 975 | 666 | 1,843 | 1,163
General and administrative |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |
Total stock-based compensation expense | $ 1,592 | $ 1,154 | $ 2,834 | $ 1,993

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