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Stock-Based Compensation - Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Stock-Based Compensation        
Share-based compensation costs recognized $ 6,124 $ 4,482 $ 11,001 $ 8,307
Research and development        
Stock-Based Compensation        
Share-based compensation costs recognized 1,898 1,235 3,195 2,210
Selling, general and administrative        
Stock-Based Compensation        
Share-based compensation costs recognized 4,226 $ 3,247 7,806 $ 6,097
Stock options        
Stock-Based Compensation        
Unrecognized compensation expense $ 25,301   $ 25,301  
Remaining unamortized expense period     1 year 8 months 12 days