Stock Based Compensation, Stock-Based Compensation (Details) - USD ($) $ in Thousands	3 Months Ended
Mar. 31, 2022	Mar. 31, 2021
Stock-Based Compensation Expense [Abstract]
Total stock-based compensation expense	$ 6,270	$ 7,900
Weighted average period expected to recognize unrecognized share-based compensation cost	1 year 10 months 17 days
Research and Development [Member]
Stock-Based Compensation Expense [Abstract]
Total stock-based compensation expense	$ 2,318	2,916
General and Administrative [Member]
Stock-Based Compensation Expense [Abstract]
Total stock-based compensation expense	3,952	4,984
Stock Options [Member]
Stock-Based Compensation Expense [Abstract]
Total stock-based compensation expense	5,961	7,826
Unrecognized share-based compensation cost	53,800
Restricted Stock Units [Member]
Stock-Based Compensation Expense [Abstract]
Total stock-based compensation expense	309	$ 74
Unrecognized share-based compensation cost	$ 53,800

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
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Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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