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Stock-based Compensation - Summary of Recognized Stock-Based Compensation (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total stock-based compensation | $ 46,146 | $ 40,785 | $ 30,522
Research and Development |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total stock-based compensation | 24,895 | 21,443 | 14,980
General and Administrative |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total stock-based compensation | $ 21,251 | $ 19,342 | $ 15,542

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