Equity Incentive Plans - Stock-Based Compensation (Details) - USD ($) $ in Thousands	3 Months Ended
Mar. 31, 2022	Mar. 31, 2021
Stock-based Compensation [Line Items]
Stock-based compensation expense	$ 3,722	$ 3,087
Research and development
Stock-based Compensation [Line Items]
Stock-based compensation expense	1,214	1,092
Selling, general and administrative
Stock-based Compensation [Line Items]
Stock-based compensation expense	$ 2,508	$ 1,995

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
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Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
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Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
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