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Stock-Based Awards - Summary of Stock-based Compensation Expense (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
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total stock-based compensation | $ 24,814 | $ 22,944 | $ 77,217 | $ 59,413
Research and Development Expense |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total stock-based compensation | 12,607 | 11,165 | 39,791 | 30,455
General and Administrative |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total stock-based compensation | $ 12,207 | $ 11,779 | $ 37,426 | $ 28,958

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