Stock-based Compensation - Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Stock-based compensation expense
Stock-based compensation expense	$ 31,625	$ 26,873	$ 20,730
Research and development
Stock-based compensation expense
Stock-based compensation expense	13,876	10,698	8,833
General and administrative
Stock-based compensation expense
Stock-based compensation expense	17,749	16,175	11,897
Stock options
Stock-based compensation expense
Stock-based compensation expense	$ 31,625	$ 26,873	$ 20,730