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Stock-Based Compensation - Expense Summary (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total equity compensation expense $ 16,511 $ 14,772 $ 67,982 $ 57,886
Research and development expense        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total equity compensation expense 4,380 5,428 16,987 19,172
Selling, general, and administrative expense        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total equity compensation expense $ 12,131 $ 9,344 $ 50,995 $ 38,714