Employee Stock Benefit Plans - Share-based Compensation Expense - Summary (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Employee Stock Benefit Plans
Share-based compensation expense	$ 6,089	$ 5,396
Research and development
Employee Stock Benefit Plans
Share-based compensation expense	1,158	1,243
Selling, general and administrative
Employee Stock Benefit Plans
Share-based compensation expense	$ 4,931	4,043
Restructuring expenses
Employee Stock Benefit Plans
Share-based compensation expense		$ 110