Stock-based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Schedule of stock-based compensation expense
Stock-based compensation	$ 11,593	$ 7,728	$ 6,943
Stock options
Schedule of stock-based compensation expense
Stock-based compensation	2,764	2,381	2,149
RSUs and RSAs
Schedule of stock-based compensation expense
Stock-based compensation	2,768	2,231	1,805
PSUs
Schedule of stock-based compensation expense
Stock-based compensation	2,333	1,160	1,087
PBOs
Schedule of stock-based compensation expense
Stock-based compensation	3,728	1,956	1,902
Research and development
Schedule of stock-based compensation expense
Stock-based compensation	2,353	1,620	1,562
Selling, general and administrative
Schedule of stock-based compensation expense
Stock-based compensation	$ 9,240	$ 6,108	$ 5,381