Income Taxes - Components of Net Deferred Tax Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
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)

Deferred tax assets before valuation allowance net of deferred tax liabilities.

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Deferred tax liabilities right of use asset.

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible temporary differences and carryforwards.

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible temporary differences from in-process research and development costs expensed in connection with a business combination.

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible operating loss carryforwards.

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible temporary differences from property, plant, and equipment.

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible research tax credit carryforwards.

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible temporary differences from share-based compensation.

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Amount, before allocation of valuation allowance, of deferred tax asset attributable to deductible temporary differences from reserves and accruals, classified as other.

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Amount before allocation of valuation allowances of deferred tax asset attributable to deductible temporary differences from estimated returns and sales allowances.

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Amount of deferred tax assets for which it is more likely than not that a tax benefit will not be realized.

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Amount, after deferred tax asset, of deferred tax liability attributable to taxable differences without jurisdictional netting.

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Amount of deferred tax liability attributable to taxable temporary differences from research and development costs.

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