Condensed Consolidated Statements of Stockholders’ Equity (Parenthetical) - USD ($) $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Sep. 30, 2022	Sep. 30, 2021	Dec. 31, 2021	Dec. 31, 2020
Statement of Stockholders' Equity [Abstract]
Offering costs						$ 3,991
Issuance of common stock from option exercises (in shares)							27,460
Issuance of common stock from option exercises	$ 9	$ 11	$ 56	$ 427	$ 165	19
Stock-based compensation	5,536	5,101	5,032	4,634	6,455	8,494
Issuance of common stock from releases of restricted stock units	(1)	0	0	0	0	0
Net loss	(26,107)	(27,633)	(25,774)	(25,261)	(30,976)	(26,743)	$ (79,514)	$ (82,980)
Stockholders' Equity Attributable to Parent	$ 104,255	$ 124,818	$ 147,505	$ 117,748	$ 139,051	$ 164,405	$ 104,255	$ 117,748	$ 169,795	$ 130,266