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Stock-Based Compensation - Employee Expense (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Total employee, director and non-employee stock-based compensation expense $ 13,563 $ 12,603 $ 26,162 $ 23,408
Stock options        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Total employee, director and non-employee stock-based compensation expense 6,842 7,512 13,825 14,345
ESPP        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Total employee, director and non-employee stock-based compensation expense 341 290 663 591
RSUs        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Total employee, director and non-employee stock-based compensation expense 6,380 4,801 11,674 8,472
General and administrative        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Total employee, director and non-employee stock-based compensation expense 4,471 4,350 8,747 8,024
Research and development        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Total employee, director and non-employee stock-based compensation expense $ 9,092 $ 8,253 $ 17,415 $ 15,384