Stock-Based Compensation - Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Options to purchase common stock
Stock based compensation expense
Options granted (in shares)			264,000
Stock-based compensation expense	$ 40,973	$ 35,103	$ 76,060	$ 58,335
Unrecognized compensation expense	344,500		$ 344,500
Unrecognized compensation expense, weighted average period of recognition			2 years 9 months 18 days
Options to purchase common stock | Cost of revenues
Stock based compensation expense
Stock-based compensation expense	2,063	1,275	$ 3,779	1,983
Options to purchase common stock | Research and development
Stock based compensation expense
Stock-based compensation expense	12,458	6,616	21,879	10,490
Options to purchase common stock | Selling, general and administrative
Stock based compensation expense
Stock-based compensation expense	26,452	27,212	50,402	45,862
Employee stock options
Stock based compensation expense
Stock-based compensation expense	40,297	34,697	74,894	57,660
Employee stock options | Cost of revenues
Stock based compensation expense
Stock-based compensation expense	2,063	1,275	3,779	1,983
Employee stock options | Research and development
Stock based compensation expense
Stock-based compensation expense	11,938	6,276	20,944	9,926
Employee stock options | Selling, general and administrative
Stock based compensation expense
Stock-based compensation expense	26,296	27,146	$ 50,171	45,751
Non-employee stock options
Stock based compensation expense
Options granted (in shares)			28,053
Stock-based compensation expense	676	406	$ 1,166	675
Non-employee stock options | Research and development
Stock based compensation expense
Stock-based compensation expense	520	340	935	564
Non-employee stock options | Selling, general and administrative
Stock based compensation expense
Stock-based compensation expense	$ 156	$ 66	$ 231	$ 111