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Stock-based Compensation - Schedule of 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
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Consulting expense	$ 2,577	$ 3,035	$ 4,297	$ 5,247
Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Consulting expense	92	174	188	251
RSUs & RSAs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Consulting expense	2,499	2,909	4,099	4,984
ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Consulting expense	(14)	22	10	82
Performance Awards
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Consulting expense	0	(70)	0	(70)
Research and development expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Consulting expense	681	514	1,157	887
Selling, general and administrative expenses
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Consulting expense	$ 1,896	$ 2,521	$ 3,140	$ 4,360

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- Definition

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

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