Consolidated Statements of Operations - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Revenues:
Revenue from contract with customer, license and other revenue	$ 146,033	$ 157,074	$ 209,819
Operating expenses:
Research and development	138,750	148,662	160,842
Selling, general and administrative	131,881	145,401	143,846
Total operating expenses	275,573	299,276	308,090
Loss from operations	(129,540)	(142,202)	(98,271)
Other income (expense):
Interest income	10,943	2,359	582
Interest expense	(23,823)	(24,996)	(26,046)
Other expense, net	(356)	(83)	(85)
Total other expense, net	(13,236)	(22,720)	(25,549)
Loss before income taxes	(142,776)	(164,922)	(123,820)
Income tax provision	(323)	(369)	(268)
Net loss	$ (143,099)	$ (165,291)	$ (124,088)
Net loss per share - basic	$ (1.25)	$ (2.02)	$ (1.65)
Net loss per share - diluted	$ (1.25)	$ (2.02)	$ (1.65)
Weighted-average number of common shares outstanding used to compute net loss per share - basic	114,221,000	81,871,000	75,218,000
Weighted-average number of common shares outstanding used to compute net loss per share - diluted	114,221,000	81,871,000	75,218,000
Product [Member]
Revenues:
Revenue from contract with customer, license and other revenue	$ 112,011	$ 120,445	$ 98,436
Operating expenses:
Cost of sales	4,942	5,213	3,402
License and Other [Member]
Revenues:
Revenue from contract with customer, license and other revenue	$ 34,022	$ 36,629	$ 111,383