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Stock-based Compensation (Details Textual)
$ / shares in Units, shares in Thousands, $ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended
Jan. 31, 2022
shares
Dec. 31, 2014
shares
Sep. 30, 2022
USD ($)
plan
shares
Mar. 31, 2022
shares
Sep. 30, 2021
shares
Mar. 31, 2021
shares
Sep. 30, 2022
USD ($)
plan
$ / shares
shares
Sep. 30, 2021
USD ($)
$ / shares
shares
Dec. 31, 2021
shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]                  
Number of plans | plan     3       3    
Share-based payment arrangement, expense             $ 29,421 $ 26,140  
Total unrecognized compensation expense related to non-vested stock options and RSU awards     $ 100,171       100,171    
Compensation cost expected to be recognized for remainder of fiscal year     10,707       10,707    
Compensation cost expected to be recognized next year     35,987       35,987    
Compensation cost expected to be recognized year two     31,537       31,537    
Compensation cost expected to be recognized year three     19,524       19,524    
Compensation cost expected to be recognized year four     $ 2,416       $ 2,416    
Employee stock purchase plan sales, net (in shares) | shares     145 115 123 193 260 316  
Share-Based Payment Arrangement, Option | Non-employee Directors                  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]                  
Award vesting period (in years)             1 year    
Incentive Plan                  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]                  
Share-based payment arrangement, expense             $ 23,687 $ 19,973  
Number of common stock shares available for purchase (in shares) | shares     11,162       11,162   3,651
Incentive Plan | Share-Based Payment Arrangement, Option                  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]                  
Weighted average grant date fair value stock option awards (in dollars per share) | $ / shares             $ 7.78 $ 8.11  
Incentive Plan | Share-Based Payment Arrangement, Option | Maximum                  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]                  
Stock option awards remaining contractual term (in years)             10 years    
Incentive Plan | Share-Based Payment Arrangement, Option | Vest 25% Each Year Until Fully Vested                  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]                  
Award vesting rights, percentage             25.00%    
Award vesting period (in years)             4 years    
Incentive Plan | Share-Based Payment Arrangement, Option | Thirty-six Equal Monthly Installments | Non-employee Directors                  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]                  
Award vesting period (in years)             3 years    
Incentive Plan | Performance Shares | Vest Upon Successful Completion of Specific Development Milestones                  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]                  
Award vesting rights, percentage   85.00%              
Performance-based stock options issued in period (in shares) | shares   1,250              
Incentive Plan | Performance-based Restricted Stock Units                  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]                  
Award vesting period (in years) 3 years                
Incentive Plan | Performance-based Restricted Stock Units | Vest 25% Each Year Until Fully Vested                  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]                  
Award vesting rights, percentage 25.00%                
Incentive Plan | Performance-based Restricted Stock Units | Vest Upon Successful Completion of Specific Development Milestones                  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]                  
Performance-based restricted stock unit awards issued (in shares) | shares 221                
Incentive Plan | Performance-based Restricted Stock Units | Share-Based Payment Arrangement, Tranche One                  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]                  
Award vesting rights, percentage 50.00%                
Incentive Plan | Restricted Stock Units (RSUs)                  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]                  
Weighted average grant date fair value (in dollars per share) | $ / shares             $ 13.18 $ 10.17  
Inducement Plan                  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]                  
Share-based payment arrangement, expense             $ 4,604 $ 5,025  
Award vesting period (in years)             4 years    
Weighted average grant date fair value stock option awards (in dollars per share) | $ / shares             $ 9.72 $ 9.74  
Expiration period (in years)             10 years    
Number of common stock shares available for purchase (in shares) | shares     1,346       1,346   900
Inducement Plan | Vest 25% Each Year Until Fully Vested                  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]                  
Award vesting rights, percentage             25.00%    
Inducement Plan | Share-Based Payment Arrangement, Option                  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]                  
Expected Dividend Yield             0.00%    
Inducement Plan | Restricted Stock Units (RSUs)                  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]                  
Weighted average grant date fair value (in dollars per share) | $ / shares             $ 13.38    
Employee Stock Purchase Plan                  
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]                  
Share-based payment arrangement, expense             $ 1,130 $ 1,142  
Number of shares of common stock authorized to be purchased (in shares) | shares     7,975       7,975    
Number of common stock shares available for purchase (in shares) | shares     5,792       5,792    
Percentage of salary to purchase common stock, maximum             15.00%    
Percentage of common stock shares, beginning             85.00%    
Percentage of common stock shares, ending             85.00%    
Maximum number of shares per employee (in shares) | shares             3    
Maximum number of shares per employee, amount     $ 25       $ 25