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Stock-based Compensation (Tables)
 9 Months Ended
Sep. 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 September 30,Nine Months Ended September 30,
 2022202120222021
Research and development $958 $652 $2,853 $1,726 
Selling, general and administrative3,573 2,364 8,747 6,821 
   Total$4,531 $3,016 $11,600 $8,547 
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,
 2022202120222021
Stock options$1,679 $693 $3,279 $2,040 
RSUs and RSAs1,290 742 3,785 1,974 
PSUs965 640 2,279 1,683 
PBOs597 941 2,257 2,850 
   Total$4,531 $3,016 $11,600 $8,547