Interest Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Other Income and Expenses [Abstract]
Interest expense	$ (665)	$ (1,175)	$ (1,853)	$ (2,330)
Interest expense on nonrecourse liability related to sale of future royalties	(245)	(635)	(562)	(1,422)
Total	$ (910)	(1,810)	(2,415)	(3,752)
Amortization of deferred financing costs and debt discount		$ 500	$ 532	$ 1,053