Nature of Business (Details) - USD ($) $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2021	Mar. 31, 2021	Jun. 30, 2022	Jun. 30, 2021	Dec. 31, 2021
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Accumulated deficit	$ 1,124,374				$ 1,124,374		$ 1,092,325
Net loss	15,940	$ 16,109	$ 10,838	$ 9,927	32,049	$ 20,765
Cash used in operations					28,947	$ 19,838
Cash, cash equivalents, and investments	$ 107,200				$ 107,200