Interest Expense (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Other Income and Expenses [Abstract]
Interest expense	$ (1,188)	$ (1,155)
Interest expense on nonrecourse liability related to sale of future royalties	(317)	(787)
Total	(1,505)	(1,942)
Amortization of deferred financing costs and debt discount	$ 532	$ 526