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Stock Incentive Plans - Schedule of Stock-Based Compensation Expense (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Stock-based compensation $ 4,051 $ 3,883
Research and Development    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Stock-based compensation 2,166 1,857
General and Administrative    
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]    
Stock-based compensation $ 1,885 $ 2,026