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Stock-based Compensation - Total Stock-based Compensation Recognized (Details) - Options, TRSUs, PSUs and the ESPP - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Stock-based compensation expense:
Stock-based compensation expense	$ 13,125	$ 13,167
Research and Development Expense [Member]
Stock-based compensation expense:
Stock-based compensation expense	5,544	5,797
General and Administrative Expense [Member]
Stock-based compensation expense:
Stock-based compensation expense	$ 7,581	$ 7,370

X

- 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

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- References

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