Stock-based Compensation - Stock Option (Details) - USD ($) $ / shares in Units, $ in Thousands	9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021
Additional disclosures
Proceeds resulting from exercise of stock options	$ 0	$ 485
Maximum
Stock-based compensation expense
Expiration period	10 years
Stock options
Stock-based compensation expense
Options outstanding to purchase of common stock	3,026,163
Shares available for future issuance	936,704
Shares
Outstanding at the beginning of the year (in shares)	2,301,574
Options granted (in shares)	809,745
Options cancelled (in shares)	(85,156)
Outstanding at the end of the year (in shares)	3,026,163
Exercisable at the end of the year (in shares)	1,746,699
Weighted average exercise price
Outstanding at the beginning of the year (in dollars per share)	$ 78.9
Options granted (in dollars per share)	82.11
Options cancelled (in dollars per share)	101.61
Outstanding at the end of the year (in dollars per share)	79.11
Exercisable at the end of the year (in dollars per share)	$ 70.94
Additional disclosures
Total intrinsic value of options exercised	$ 0	100
Proceeds resulting from exercise of stock options	$ 0	$ 500
Weighted-average grant date fair value of options (in dollars per share)	$ 55.14	$ 75.71