Stockholders Equity - Stock-Based Compensation Expense Related to Share-Based Awards (Details) - USD ($) $ in Thousands |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2022 |
Dec. 31, 2021 |
Dec. 31, 2020 |
|
| Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] | |||
| Stock-based compensation expense | $ 14,652 | $ 22,735 | $ 24,460 |
| Research and development | |||
| Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] | |||
| Stock-based compensation expense | 3,683 | 5,816 | 6,113 |
| Selling, general and administrative | |||
| Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] | |||
| Stock-based compensation expense | $ 10,969 | $ 16,919 | $ 18,347 |