Income Taxes - Significant Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets:
Accrued expenses	$ 2,924	$ 3,306
Deferred revenue	1,250	9,725
Sale of Royalty	13,291	12,037
Stock based compensation	8,317	9,194
Research and development credits	4,827	5,034
Capitalized research and development costs	13,825	0
Other non-current liabilities	2,754	20,424
Net operating loss carryforward	288,147	286,908
ASC 842 lease liability	8,032	9,096
Inventory reserve	17,411	10,281
Refund liability	9,478	0
Other	13,159	10,483
Total deferred tax assets	383,415	376,488
Less valuation allowance	(359,926)	(342,122)
Total deferred tax assets, net of valuation allowance	23,489	34,366
Deferred tax liabilities:
Fixed assets	0	0
Intangible assets	(15,981)	(25,598)
Inventory	0	0
ASC 842 ROU asset	(7,426)	(8,486)
Other	(82)	(282)
Total deferred tax liabilities	(23,489)	(34,366)
Net deferred tax liability	$ 0	$ 0