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Stock-based Compensation - Summary of Stock-Based Compensation Included in Statement of Operations (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
Stock-based compensation |  |  |  |
Total stock-based compensation expense | $ 5,377 | $ 5,948 | $ 17,204 | $ 19,343
Research and development |  |  |  |
Stock-based compensation |  |  |  |
Total stock-based compensation expense |  | 233 | 1,591 | 2,697
Selling, general and administrative expenses |  |  |  |
Stock-based compensation |  |  |  |
Total stock-based compensation expense | $ 5,377 | $ 5,715 | $ 15,613 | $ 16,646

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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 -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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