Stock-based Compensation - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended
Mar. 31, 2022	Mar. 31, 2021
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Stock-based compensation	$ 3,838	$ 2,687
Stock options
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Stock-based compensation	806	665
Compensation not yet recognized, stock options	6,600
RSUs and RSAs
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Stock-based compensation	1,162	542
Compensation not yet recognized, share-based awards other than options	9,200
PSUs
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Stock-based compensation	872	470
Compensation not yet recognized, share-based awards other than options	2,500
PBOs
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Stock-based compensation	998	1,010
Compensation not yet recognized, share-based awards other than options	4,500
Research and development
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Stock-based compensation	936	477
Selling, general and administrative
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Stock-based compensation	$ 2,902	$ 2,210

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Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
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Amount of cost to be recognized for option under share-based payment arrangement.

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Amount of noncash expense for share-based payment arrangement.

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Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
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