Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
-Subparagraph (SAB Topic 14.F)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
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-Section 50
-Paragraph 2
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+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
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Amount of cost to be recognized for option under share-based payment arrangement.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
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No definition available.

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Stock-based Compensation, Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock-Based Compensation [Abstract]
Stock-based compensation	$ 8,516	$ 11,206	$ 24,918
Remaining weighted average vesting period	3 years 1 month 6 days
Stock Options [Member]
Stock-Based Compensation [Abstract]
Total unrecognized stock-based compensation expense	$ 17,300
Restricted Stock Units [Member]
Stock-Based Compensation [Abstract]
Total unrecognized stock-based compensation expense	17,300
Research and Development [Member]
Stock-Based Compensation [Abstract]
Stock-based compensation	2,961	4,548	5,718
Selling, General and Administrative Expenses [Member]
Stock-Based Compensation [Abstract]
Stock-based compensation	$ 5,555	$ 6,658	$ 19,200