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Equity Incentive Plans - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock based compensation expense | $ 36,805 | $ 39,967 | $ 112,330 | $ 118,405
Research and development |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock based compensation expense | 31,592 | 38,015 | 99,243 | 112,329
Selling, general, and administrative |  |  |  |
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items] |  |  |  |
Stock based compensation expense | $ 5,213 | $ 1,952 | $ 13,087 | $ 6,076

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