Stock-Based Compensation - Early Exercise of Stock Options (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended	9 Months Ended
	Sep. 30, 2020	Sep. 30, 2022	Sep. 30, 2021
Stock-Based Compensation
Proceeds from exercise of stock options	$ 600	$ 146	$ 187
Exercise of stock options (in shares)	135,525	108,459
Exercise price, lower range (in dollars per share)	$ 4.406
Exercise price, higher range (in dollars per share)	$ 4.824
Number of shares vested		109,896
Current liability from early exercises of stock options		$ 100