Stock-based Compensation - Stock-based Compensation Expense - By Classification (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Total stock based compensation expense
Stock-based compensation expense	$ 23,071	$ 24,109	$ 70,087	$ 72,855
Research and Development
Total stock based compensation expense
Stock-based compensation expense	11,169	10,010	31,512	30,548
General and Administrative Expense
Total stock based compensation expense
Stock-based compensation expense	$ 11,902	$ 14,099	$ 38,575	$ 42,307