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Stock-based Compensation (Details Textual) $ / shares in Units, shares in Thousands, $ in Thousands | 1 Months Ended | 3 Months Ended | 9 Months Ended |
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Jan. 31, 2022 shares | Dec. 31, 2014 shares | Sep. 30, 2022 USD ($) plan shares | Mar. 31, 2022 shares | Sep. 30, 2021 shares | Mar. 31, 2021 shares | Sep. 30, 2022 USD ($) plan $ / shares shares | Sep. 30, 2021 USD ($) $ / shares shares | Dec. 31, 2021 shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Number of plans | plan |  |  | 3 |  |  |  | 3 |  |
Share-based payment arrangement, expense |  |  |  |  |  |  | $ 29,421 | $ 26,140 |
Total unrecognized compensation expense related to non-vested stock options and RSU awards |  |  | $ 100,171 |  |  |  | 100,171 |  |
Compensation cost expected to be recognized for remainder of fiscal year |  |  | 10,707 |  |  |  | 10,707 |  |
Compensation cost expected to be recognized next year |  |  | 35,987 |  |  |  | 35,987 |  |
Compensation cost expected to be recognized year two |  |  | 31,537 |  |  |  | 31,537 |  |
Compensation cost expected to be recognized year three |  |  | 19,524 |  |  |  | 19,524 |  |
Compensation cost expected to be recognized year four |  |  | $ 2,416 |  |  |  | $ 2,416 |  |
Employee stock purchase plan sales, net (in shares) | shares |  |  | 145 | 115 | 123 | 193 | 260 | 316 |
Share-Based Payment Arrangement, Option | Non-employee Directors |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Award vesting period (in years) |  |  |  |  |  |  | 1 year |  |
Incentive Plan |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Share-based payment arrangement, expense |  |  |  |  |  |  | $ 23,687 | $ 19,973 |
Number of common stock shares available for purchase (in shares) | shares |  |  | 11,162 |  |  |  | 11,162 |  | 3,651
Incentive Plan | Share-Based Payment Arrangement, Option |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Weighted average grant date fair value stock option awards (in dollars per share) | $ / shares |  |  |  |  |  |  | $ 7.78 | $ 8.11 |
Incentive Plan | Share-Based Payment Arrangement, Option | Maximum |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Stock option awards remaining contractual term (in years) |  |  |  |  |  |  | 10 years |  |
Incentive Plan | Share-Based Payment Arrangement, Option | Vest 25% Each Year Until Fully Vested |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Award vesting rights, percentage |  |  |  |  |  |  | 25.00% |  |
Award vesting period (in years) |  |  |  |  |  |  | 4 years |  |
Incentive Plan | Share-Based Payment Arrangement, Option | Thirty-six Equal Monthly Installments | Non-employee Directors |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Award vesting period (in years) |  |  |  |  |  |  | 3 years |  |
Incentive Plan | Performance Shares | Vest Upon Successful Completion of Specific Development Milestones |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Award vesting rights, percentage |  | 85.00% |  |  |  |  |  |  |
Performance-based stock options issued in period (in shares) | shares |  | 1,250 |  |  |  |  |  |  |
Incentive Plan | Performance-based Restricted Stock Units |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Award vesting period (in years) | 3 years |  |  |  |  |  |  |  |
Incentive Plan | Performance-based Restricted Stock Units | Vest 25% Each Year Until Fully Vested |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Award vesting rights, percentage | 25.00% |  |  |  |  |  |  |  |
Incentive Plan | Performance-based Restricted Stock Units | Vest Upon Successful Completion of Specific Development Milestones |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Performance-based restricted stock unit awards issued (in shares) | shares | 221 |  |  |  |  |  |  |  |
Incentive Plan | Performance-based Restricted Stock Units | Share-Based Payment Arrangement, Tranche One |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Award vesting rights, percentage | 50.00% |  |  |  |  |  |  |  |
Incentive Plan | Restricted Stock Units (RSUs) |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Weighted average grant date fair value (in dollars per share) | $ / shares |  |  |  |  |  |  | $ 13.18 | $ 10.17 |
Inducement Plan |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Share-based payment arrangement, expense |  |  |  |  |  |  | $ 4,604 | $ 5,025 |
Award vesting period (in years) |  |  |  |  |  |  | 4 years |  |
Weighted average grant date fair value stock option awards (in dollars per share) | $ / shares |  |  |  |  |  |  | $ 9.72 | $ 9.74 |
Expiration period (in years) |  |  |  |  |  |  | 10 years |  |
Number of common stock shares available for purchase (in shares) | shares |  |  | 1,346 |  |  |  | 1,346 |  | 900
Inducement Plan | Vest 25% Each Year Until Fully Vested |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Award vesting rights, percentage |  |  |  |  |  |  | 25.00% |  |
Inducement Plan | Share-Based Payment Arrangement, Option |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Expected Dividend Yield |  |  |  |  |  |  | 0.00% |  |
Inducement Plan | Restricted Stock Units (RSUs) |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Weighted average grant date fair value (in dollars per share) | $ / shares |  |  |  |  |  |  | $ 13.38 |  |
Employee Stock Purchase Plan |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |  |  |  |
Share-based payment arrangement, expense |  |  |  |  |  |  | $ 1,130 | $ 1,142 |
Number of shares of common stock authorized to be purchased (in shares) | shares |  |  | 7,975 |  |  |  | 7,975 |  |
Number of common stock shares available for purchase (in shares) | shares |  |  | 5,792 |  |  |  | 5,792 |  |
Percentage of salary to purchase common stock, maximum |  |  |  |  |  |  | 15.00% |  |
Percentage of common stock shares, beginning |  |  |  |  |  |  | 85.00% |  |
Percentage of common stock shares, ending |  |  |  |  |  |  | 85.00% |  |
Maximum number of shares per employee (in shares) | shares |  |  |  |  |  |  | 3 |  |
Maximum number of shares per employee, amount |  |  | $ 25 |  |  |  | $ 25 |  |

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