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Share-Based Compensation - Performance Contingent Awards (Details)
$ in Thousands
12 Months Ended
Dec. 31, 2022
USD ($)
employee
shares
Dec. 31, 2021
USD ($)
employee
Dec. 31, 2020
USD ($)
Dec. 31, 2016
shares
Share-Based Compensation        
Stock-based compensation expense $ 39,734 $ 62,061 $ 62,976  
Incremental Share-Based Compensation expense 1,700      
Cumulative compensation cost 800 2,800    
Restructuring and related expenses        
Share-Based Compensation        
Stock-based compensation expense 6,998 8,362    
Incremental Share-Based Compensation expense $ 2,500 $ 5,600    
Number of employees reduction in workforce | employee 40 160    
Selling, general and administrative        
Share-Based Compensation        
Stock-based compensation expense $ 19,848 $ 28,065 31,682  
Research and development        
Share-Based Compensation        
Stock-based compensation expense 12,888 25,634 31,294  
Performance-Contingent Awards - RSAs        
Share-Based Compensation        
Shares approved for grant (in shares) | shares       1,575,000
Vesting period       5 years
Total maximum expense $ 400      
Performance-Contingent Awards - RSUs        
Share-Based Compensation        
RSUs outstanding (in shares) | shares 43,000      
Performance-Contingent Awards - RSUs | Senior management        
Share-Based Compensation        
Shares approved for grant (in shares) | shares       135,000
Performance-Contingent Awards - RSUs.        
Share-Based Compensation        
Stock-based compensation expense $ 200 400 1,000  
First tranche        
Share-Based Compensation        
Stock-based compensation expense   $ 400 $ 3,000