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Income Taxes - Components of Net Deferred Tax Assets (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021
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Components Of Deferred Tax Assets [Abstract] |  |
Net operating loss carryforwards | $ 131,423 | $ 117,793
Research and development credits | 63,164 | 58,039
Depreciation and amortization | 51,877 | 40,620
Stock-based compensation | 32,561 | 30,565
Sales related accruals | 23,864 | 17,299
Other accruals | 19,717 | 11,798
Capitalized research and development | 17,673 |
Gross deferred tax assets | 340,279 | 276,114
Right-of-use asset | (1,903) | (2,167)
In-process research and development | (603) | (603)
Gross deferred tax liabilities | (2,506) | (2,770)
Total net deferred tax asset | 337,773 | 273,344
Less valuation allowance | $ (337,773) | $ (273,344)

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