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Stock-based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2023
Stock-based Compensation |
Schedule of significant assumptions used to compute the fair values of employee and director stock options awarded | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Year ended
​ | ​ | December 31,
​ | ​ | 2023 |  | ​ | 2022 |  | ​ | 2021 |
Risk‑free interest rate | ​ | 2.35 | % | ​ | 2.19 | % | ​ | 0.79 | %
Expected term (in years) | ​ | 6.11 | ​ | ​ | 6.11 | ​ | ​ | 6.11 | ​
Expected volatility | ​ | 76.11 | % | ​ | 69.16 | % | ​ | 69.80 | %
Expected dividend yield | ​ | — | ​ | ​ | — | ​ | ​ | — | ​
Summary of common stock option activity | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | ​ |  | ​ |  | ​ |  | ​ | Weighted‑ | ​ |  | ​
​ | ​ | ​ | ​ | ​ | ​ | Weighted- | ​ | ​ | Average | ​ | ​ | ​
​ | ​ | ​ | ​ | ​ | ​ | Average | ​ | ​ | Remaining | ​ | ​ | Aggregate
​ | ​ | ​ | ​ | Number of | ​ | Exercise | ​ | ​ | Contractual | ​ | ​ | Intrinsic
​ | ​ | ​ | ​ | Options | ​ | Price | ​ | ​ | Term | ​ | ​ | Value
Outstanding as of December 31, 2022 |  | 6,374,544 | ​ | $ | 17.85 | ​ | ​ | 7.73 | ​ | $ | 73,994
Granted | ​ | ​ |  | 1,053,888 | ​ | $ | 25.42 | ​ |  | — | ​ | $ | —
Exercised | ​ | ​ |  | (529,854) | ​ | $ | 14.09 | ​ |  | — | ​ | $ | 9,225
Cancelled | ​ | ​ |  | (347,553) | ​ | $ | 21.23 | ​ |  | — | ​ | $ | —
Outstanding as of December 31, 2023 |  | 6,551,025 | ​ | $ | 19.19 | ​ | ​ | 7.23 | ​ | $ | 175,419
Options exercisable at December 31, 2023 |  | 3,936,040 | ​ | $ | 19.77 | ​ | ​ | 6.54 | ​ | $ | 103,122
Summary of restricted stock unit activity | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | ​ |  | ​ |  | ​
​ | ​ | ​ | ​ | ​ | ​ | Weighted-
​ | ​ | ​ | ​ | ​ | ​ | Average
​ | ​ | ​ | ​ | Number of | ​ | Grant Date
​ | ​ | ​ | ​ | RSUs | ​ | Fair Value
Unvested as of December 31, 2022 |  | 774,166 | ​ | $ | 12.18
Granted | ​ | ​ |  | 643,028 | ​ |  | 24.97
Vested | ​ | ​ |  | (214,837) | ​ |  | 14.30
Cancelled | ​ | ​ |  | (97,750) | ​ |  | 15.61
Unvested as of December 31, 2023 |  | 1,104,607 | ​ | $ | 17.44
Summary of performance stock unit activity | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | ​ |  | ​ |  | ​
​ | ​ | ​ | ​ | ​ | ​ | Weighted-
​ | ​ | ​ | ​ | ​ | ​ | Average
​ | ​ | ​ | ​ | Number of | ​ | Grant Date
​ | ​ | ​ | ​ | PSUs | ​ | Fair Value
Unvested as of December 31, 2022 |  | 804,797 | ​ | $ | 13.24
Granted | ​ | ​ |  | — | ​ |  | —
Vested | ​ | ​ |  | — | ​ |  | —
Cancelled | ​ | ​ |  | (223,451) | ​ |  | 13.24
Unvested as of December 31, 2023 |  | 581,346 | ​ | $ | 13.24
Summary of stock-based compensation expense | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Year Ended
​ | ​ | December 31,
​ |  | 2023 | ​ | 2022 | ​ | 2021
Research and development | ​ | $ | 8,449 | ​ | $ | 5,814 | ​ | $ | 7,687
Selling, general, and administrative | ​ |  | 24,104 | ​ |  | 14,017 | ​ |  | 13,117
Total | ​ | $ | 32,553 | ​ | $ | 19,831 | ​ | $ | 20,804
Summary of stock-based compensation expense by award type | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Year Ended
​ | ​ | December 31,
​ |  | 2023 | ​ | 2022 | ​ | 2021
Stock options | ​ | $ | 17,671 | ​ | $ | 15,477 | ​ | $ | 17,988
Employees stock purchase plan | ​ | ​ | 581 | ​ | ​ | 408 | ​ | ​ | 310
Restricted stock units | ​ |  | 5,998 | ​ |  | 2,918 | ​ |  | 1,924
Performance stock units | ​ | ​ | 8,303 | ​ | ​ | 1,028 | ​ | ​ | 582
Total | ​ | $ | 32,553 | ​ | $ | 19,831 | ​ | $ | 20,804

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- Definition Tabular disclosure of the number and weighted-average grant date fair value for restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited during the year. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (e) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 718 -SubTopic 10 -Subparagraph (f)(2) -Name Accounting Standards Codification -Paragraph 2 -Section 50 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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