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Stock-based Compensation - Compensation expense by award type (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Stock-based Compensation |  |  |
Stock based compensation expense | $ 32,553 | $ 19,831 | $ 20,804
Research and development |  |  |
Stock-based Compensation |  |  |
Stock based compensation expense | 8,449 | 5,814 | 7,687
Selling, general and administrative |  |  |
Stock-based Compensation |  |  |
Stock based compensation expense | 24,104 | 14,017 | 13,117
2017 Equity Incentive Plan | Employee |  |  |
Stock-based Compensation |  |  |
Unrecognized compensation expense related to non-vested portion of awards | $ 16,880 |  |
Weighted average period for recognition of unrecognized compensation expense | 2 years 7 months 17 days |  |
2017 Equity Incentive Plan | Employees, directors and nonemployees |  |  |
Stock-based Compensation |  |  |
Unrecognized compensation expense related to non-vested portion of awards | $ 27,322 |  |
Weighted average period for recognition of unrecognized compensation expense | 2 years 25 days |  |
Stock options. |  |  |
Stock-based Compensation |  |  |
Stock based compensation expense | $ 17,671 | 15,477 | 17,988
Employees stock purchase plan |  |  |
Stock-based Compensation |  |  |
Stock based compensation expense | 581 | 408 | 310
Restricted stock units |  |  |
Stock-based Compensation |  |  |
Stock based compensation expense | 5,998 | 2,918 | 1,924
Performance stock units |  |  |
Stock-based Compensation |  |  |
Stock based compensation expense | $ 8,303 | $ 1,028 | $ 582

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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