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Stock-Based Compensation - Expense (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Stock-Based Compensation        
Share-based compensation costs recognized $ 4,014 $ 4,483 $ 15,015 $ 12,790
Research and development        
Stock-Based Compensation        
Share-based compensation costs recognized 1,645 1,105 4,840 3,310
Selling, general and administrative        
Stock-Based Compensation        
Share-based compensation costs recognized 2,369 $ 3,378 10,175 $ 9,480
Stock options        
Stock-Based Compensation        
Unrecognized compensation expense $ 19,557   $ 19,557  
Remaining unamortized expense period     1 year 7 months 6 days