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Stock-Based Compensation (Tables)
6 Months Ended
Jun. 30, 2024
Share-Based Payment Arrangement [Abstract]  
Schedule of Aggregate Stock-Based Compensation Expense
The following table summarizes the aggregate stock-based compensation expense recorded in the consolidated statements of comprehensive loss related to stock options, RSUs and the ESPP during the three and six months ended June 30, 2024 and 2023 (in thousands): 
 Three Months Ended June 30,Six Months Ended June 30,
 2024202320242023
Research and development$11,301 $8,787 $21,636 $16,686 
Selling, general and administrative11,985 9,571 23,100 18,116 
Total$23,286 $18,358 $44,736 $34,802