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Stock-Based Compensation - Stock-Based Compensation (Details) - Employee And Nonemployee Stock Option And Restricted Stock Units [Member] - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Employee Service Share Based Compensation Allocation Of Recognized Period Costs    
Stock-based compensation expense $ 12,282 $ 12,879
Stock-based compensation expense capitalized into inventory 131 313
Cost of Goods Sold    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs    
Stock-based compensation expense 125 155
Research and Development Expense [Member]    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs    
Stock-based compensation expense 5,461 4,958
Selling, General and Administrative Expenses    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs    
Stock-based compensation expense $ 6,696 $ 7,766