Stock-Based Compensation - Compensation Expense (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021
Share-based Compensation Arrangement by Share-based Payment Award
Stock-based compensation expense	$ 5,591	$ 5,059
Research and development
Share-based Compensation Arrangement by Share-based Payment Award
Stock-based compensation expense	504	251
Sales and Marketing
Share-based Compensation Arrangement by Share-based Payment Award
Stock-based compensation expense	183	212
General and administrative
Share-based Compensation Arrangement by Share-based Payment Award
Stock-based compensation expense	$ 4,904	$ 4,596