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Stock-based Compensation (Tables)
 9 Months Ended
Sep. 30, 2021
Share-based Payment Arrangement [Abstract]  
Schedule of Stock-based Compensation Expense Stock-based compensation expense is included in the unaudited condensed consolidated statements of operations as follows (in thousands):
 Three Months Ended September 30,Nine Months Ended September 30,
 2021202020212020
Research and development $652 $385 $1,726 $1,279 
Selling, general and administrative2,364 1,599 6,821 4,813 
Total$3,016 $1,984 $8,547 $6,092 
Schedule of Stock-based Compensation Expense by Security Types The following table presents total stock-based compensation expense by security type included in the unaudited condensed consolidated statements of operations (in thousands):
 Three Months Ended September 30,Nine Months Ended September 30,
 2021202020212020
Stock options$693 $619 $2,040 $1,735 
RSUs and RSAs742 603 1,974 1,812 
PSUs640 295 1,683 922 
PBOs941 467 2,850 1,623 
Total$3,016 $1,984 $8,547 $6,092