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Stock-based Compensation - Schedule of Stock-Based Compensation Expense by Classification (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Total stock-based compensation expense $ 13,042 $ 9,748 $ 41,023 $ 20,290
Research And Development Expense        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Total stock-based compensation expense 2,673 1,965 12,615 9,033
General and administrative        
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]        
Total stock-based compensation expense $ 10,369 $ 7,783 $ 28,408 $ 11,257