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Stock Based Compensation, Stock-Based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2023 | Mar. 31, 2022
Stock-Based Compensation Expense [Abstract] |  |
Total share based compensation expense | $ 8,915 | $ 6,270
Research and Development [Member] |  |
Stock-Based Compensation Expense [Abstract] |  |
Total share based compensation expense | 3,819 | 2,318
General and Administrative [Member] |  |
Stock-Based Compensation Expense [Abstract] |  |
Total share based compensation expense | 5,096 | 3,952
Stock Options [Member] |  |
Stock-Based Compensation Expense [Abstract] |  |
Total share based compensation expense | 6,985 | 5,961
Unrecognized share-based compensation cost | $ 75,400 |
Weighted average period expected to recognize unrecognized share-based compensation cost | 1 year 6 months 7 days |
Restricted Stock Units [Member] |  |
Stock-Based Compensation Expense [Abstract] |  |
Total share based compensation expense | $ 1,930 | $ 309
Unrecognized share-based compensation cost | $ 75,400 |
Weighted average period expected to recognize unrecognized share-based compensation cost | 1 year 6 months 7 days |

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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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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + 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 (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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