Income Taxes - Deferred Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Taxes
Valuation allowance	$ 526,235	$ 396,079
Effect Of Tax Cuts And Jobs Act Of 2017 [Abstract]
Corporate tax rate	21.00%	21.00%	21.00%
Deferred tax assets
Net operating loss carryforwards	$ 358,109	$ 315,552
Intangibles	4,068	4,443
Research and development tax credit carryforwards	52,319	38,725
Capitalized research costs	59,128
Reserves and accruals	22,781	14,098
Lease Liabilities	21,000	16,843
Deferred revenue	5,094	6,363
Stock based compensation	23,814	15,928
Total deferred tax assets before valuation allowance	546,313	411,952
Less: valuation allowance	(526,235)	(396,079)
Total deferred tax assets after valuation allowance	20,078	15,873
Deferred tax liabilities
Fixed Assets	(1,219)
Right-of-use lease assets	(18,859)	(15,873)
Total deferred tax liabilities	(20,078)	(15,873)
Net deferred tax assets