Equity Incentive Plans - Stock-Based Compensation (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Stock-based Compensation [Line Items]
Stock-based compensation expense	$ 3,199	$ 3,193	$ 6,111	$ 6,824
Selling, general and administrative
Stock-based Compensation [Line Items]
Stock-based compensation expense	2,303	2,220	4,391	4,728
Research and development
Stock-based Compensation [Line Items]
Stock-based compensation expense	$ 896	$ 973	$ 1,720	$ 2,096