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Stock-based Compensation - Summary of Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock-based compensation
Total stock-based compensation expense	$ 27,136	$ 22,874	$ 24,255
Research and development
Stock-based compensation
Total stock-based compensation expense		1,591	3,422
Selling, general and administrative
Stock-based compensation
Total stock-based compensation expense	$ 27,136	$ 21,283	$ 20,833

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- Definition

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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