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Stock-based Compensation (Tables)
 3 Months Ended
Mar. 31, 2022
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 March 31,
 20222021
Research and development $936 $477 
Selling, general and administrative2,902 2,210 
   Total$3,838 $2,687 
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 March 31,
 20222021
Stock options$806 $665 
RSUs and RSAs1,162 542 
PSUs872 470 
PBOs998 1,010 
   Total$3,838 $2,687