Consolidated Statements of Cash Flows - USD ($) $ in Thousands		12 Months Ended
		Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Cash flows from operating activities:
Net Income (Loss)		$ (113,724)	$ (250,157)	$ (65,578)
Adjustments to reconcile net loss to net cash provided by (used in) operating activities:
Stock-based compensation expense		34,101	25,482	20,222
Depreciation and amortization expense		6,243	6,629	5,947
Non-cash operating lease cost		8,871	5,224	3,275
Amortization of premiums on investments		(236)	688	498
Amortization of debt issuance costs		1,139	705	2,526
Loss on extinguishment of debt		1,625	0	0
Change in fair value of warrant liabilities		(1,554)	0	0
Collaboration (profit) loss sharing - related party		5,158	1,004	(1,732)
Changes in operating assets and liabilities:
Prepaid expenses and other current and non-current assets		(29,124)	(12,599)	(12,337)
Collaboration receivable - related party		(8,674)	0	0
Inventories		(29,647)	0	0
Accounts receivable		0	0	9,387
Deferred income - related party		7,730	0	0
Deferred revenue - related party		(1,325)	(7,128)	(4,357)
Accounts payable		(11,578)	2,203	9,362
Operating lease liabilities		(2,197)	(4,203)	(3,550)
Accrued expenses and other current and long-term liabilities	[1]	15,838	3,336	43,025
Net cash (used in) provided by operating activities		(117,354)	(228,816)	6,688
Cash flows from investing activities:
Purchases of property and equipment		(7,975)	(9,821)	(9,566)
Purchases of investments		(4,426)	(48,221)	(95,971)
Sales and maturities of investments		22,983	140,470	169,625
Net cash provided by investing activities		10,582	82,428	64,088
Cash flows from financing activities:
Proceeds from issuance of common stock, net of issuance costs		0	96,721	0
Proceeds from at the market equity offering, net of issuance costs		18,159	4,447	0
Proceeds from exercise of stock options		877	966	1,299
Issuance of common stock under ESPP		2,151	1,769	827
Proceeds from issuance of debt, net of issuance costs		103,378	27,606	0
Repayment of notes payable		(52,860)	(1,907)	(948)
Net cash provided by financing activities		71,705	129,602	1,178
Net increase (decrease) in cash, cash equivalents and restricted cash		(35,067)	(16,786)	71,954
Effect of exchange rate changes on cash, cash equivalents and restricted cash		2	(1)	(1)
Cash, cash equivalents and restricted cash at beginning of year		171,215	188,002	116,049
Cash, cash equivalents and restricted cash at end of year		136,150	171,215	188,002
Supplemental disclosure of cash flow information:
Cash paid for interest		12,547	4,926	2,446
Supplemental disclosure of non-cash investing and financing activities:
Property and equipment purchases included in accounts payable and accrued expenses		16	2,276	874
Lease liability arising from obtaining right-of-use assets		3,046	91,412	12,442
Prepaid rent reclassified to right-of-use assets		4,634	6,822	0
Recognition of warrant liabilities		2,100	0	0
Warrants issued related to Term Loan and recorded as debt discount		$ 2,785	$ 0	$ 0

[1] Includes related party amounts of $(6,717), $3,087, and $31,683 at December 31, 2023, 2022, and 2021, respectively (see Note 18)