Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands |
3 Months Ended | |
|---|---|---|
Mar. 31, 2023 |
Mar. 31, 2022 |
|
| Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] | ||
| Total stock-based compensation in continuing operations | $ 2,994 | $ 3,892 |
| Discontinued operations | (41) | |
| Total stock-based compensation | 2,953 | 3,892 |
| Research and development | ||
| Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] | ||
| Total stock-based compensation in continuing operations | 1,272 | 1,715 |
| Selling, general and administrative | ||
| Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] | ||
| Total stock-based compensation in continuing operations | $ 1,722 | $ 2,177 |