Stock-Based Compensation - Compensation Expense (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021
Share-based Compensation Arrangement by Share-based Payment Award
Stock-based compensation expense	$ 3,831	$ 3,038
Research and development
Share-based Compensation Arrangement by Share-based Payment Award
Stock-based compensation expense	348	141
Sales and Marketing
Share-based Compensation Arrangement by Share-based Payment Award
Stock-based compensation expense	121	74
General and administrative
Share-based Compensation Arrangement by Share-based Payment Award
Stock-based compensation expense	$ 3,362	$ 2,823