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Stockholders' Equity - Share-Based Compensation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award
Share-based compensation expense	$ 25,743	$ 50,881	$ 29,326
Research and development expenses
Share-based Compensation Arrangement by Share-based Payment Award
Share-based compensation expense	6,248	10,970	9,341
General and administrative expenses
Share-based Compensation Arrangement by Share-based Payment Award
Share-based compensation expense	$ 19,495	$ 39,911	$ 19,985

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