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Stock-based Compensation (Tables)
 6 Months Ended
Jun. 30, 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 June 30,Six Months Ended June 30,
 2022202120222021
Research and development $959 $597 $1,895 $1,074 
Selling, general and administrative2,272 2,247 5,174 4,457 
   Total$3,231 $2,844 $7,069 $5,531 
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 June 30,Six Months Ended June 30,
 2022202120222021
Stock options$794 $682 $1,600 $1,347 
RSUs and RSAs1,333 690 2,495 1,232 
PSUs442 573 1,314 1,043 
PBOs662 899 1,660 1,909 
   Total$3,231 $2,844 $7,069 $5,531