Stock-Based Compensation - Compensation Expense (Details) - USD ($) shares in Thousands, $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Options to purchase common stock
Stock based compensation expense
Options granted (in shares)	317
Stock-based compensation expense	$ 40,695	$ 35,087
Unrecognized compensation expense	$ 424,900
Unrecognized compensation expense, weighted average period of recognition	2 years 10 months 24 days
Options to purchase common stock | Cost of revenues
Stock based compensation expense
Stock-based compensation expense	$ 2,556	1,716
Options to purchase common stock | Research and development
Stock based compensation expense
Stock-based compensation expense	14,858	9,421
Options to purchase common stock | Selling, general and administrative
Stock based compensation expense
Stock-based compensation expense	23,281	23,950
Employee stock options
Stock based compensation expense
Stock-based compensation expense	39,828	34,597
Employee stock options | Cost of revenues
Stock based compensation expense
Stock-based compensation expense	2,554	1,716
Employee stock options | Research and development
Stock based compensation expense
Stock-based compensation expense	14,315	9,006
Employee stock options | Selling, general and administrative
Stock based compensation expense
Stock-based compensation expense	22,959	23,875
Non-employee stock options
Stock based compensation expense
Stock-based compensation expense	867	490
Non-employee stock options | Cost of revenues
Stock based compensation expense
Stock-based compensation expense	2
Non-employee stock options | Research and development
Stock based compensation expense
Stock-based compensation expense	543	415
Non-employee stock options | Selling, general and administrative
Stock based compensation expense
Stock-based compensation expense	$ 322	$ 75