Stock-Based Compensation Textual (Details) $ / shares in Units, $ in Thousands	1 Months Ended		12 Months Ended
	Jan. 31, 2022 shares	Dec. 31, 2014 shares	Dec. 31, 2023 USD ($) plan $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of plans | plan			3
Total stock-based compensation expense			$ 55,615	$ 44,701	$ 34,640
Exercise of stock options, net (in shares) | shares			1,276,000
Employee stock purchase plan sales, net (in shares) | shares			338,000	260,000	321,000
Share-based Payment Arrangement, Option | Non-employee Directors
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Award vesting period (year)			1 year
Incentive Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total stock-based compensation expense			$ 44,581	$ 36,716	$ 27,062
Options, grants in period, weighted average grant date fair value (in dollars per share) | $ / shares			$ 4.75	$ 7.57	$ 7.93
Total unrecognized compensation cost			$ 75,164
Expected Dividend Yield			0.00%	0.00%	0.00%
Options, exercises in period, intrinsic value				$ 21,150	$ 25,484
Options, vested in period, fair value			$ 33,731	$ 28,916	$ 20,510
Weighted average period for recognition			1 year 10 months 24 days
Incentive Plan | Share-based Payment Arrangement, Option
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Options, grants in period, gross (in shares) | shares			6,625,000
Options, exercisable, weighted average remaining contractual term (year)			5 years 5 months 8 days
Options, exercises in period, intrinsic value			$ 3,601
Exercise of stock options, net (in shares) | shares			935,000
Options, aggregate intrinsic value			$ 12,280
Number of stock option awards vested and expected to vest (in shares) | shares			33,557,000
Weighted average exercise price of stock option awards vested and expected to vest (in dollars per share) | $ / shares			$ 8.19
Stock option awards vested and expected to vest, weighted average remaining contractual life (year)			6 years 9 months 7 days
Incentive Plan | Share-based Payment Arrangement, Option | Maximum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Options, exercisable, weighted average remaining contractual term (year)			10 years
Incentive Plan | Share-based Payment Arrangement, Option | Vest 25% Each Year Until Fully Vested
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Award vesting rights, percentage			25.00%
Award vesting period (year)			4 years
Incentive Plan | Share-based Payment Arrangement, Option | Thirty-six Equal Monthly Installments | Non-employee Directors
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Award vesting period (year)			3 years
Incentive Plan | Performance Shares | Vest Upon Successful Completion of Specific Development Milestones
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Award vesting rights, percentage		85.00%
Options, grants in period, gross (in shares) | shares		1,250,000
Incentive Plan | Restricted Stock Units (RSUs)
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Restricted stock units, grants in period, weighted average grant date fair value (in dollars per share) | $ / shares			$ 6.71	$ 11.20	$ 11.36
Total unrecognized compensation cost			$ 40,981
Weighted average period for recognition			2 years
Incentive Plan | Performance-based Restricted Stock Units | Vest 25% Each Year Until Fully Vested
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total stock-based compensation expense			$ 34	$ 158
Award vesting rights, percentage	25.00%
Incentive Plan | Performance-based Restricted Stock Units | Vest Upon Successful Completion of Specific Development Milestones
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Issued performance-based RSU award (in shares) | shares	221			21,000
Incentive Plan | Performance-based Restricted Stock Units | Share-Based Payment Arrangement, Tranche One
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Award vesting rights, percentage	50.00%
Incentive Plan | Performance-based Restricted Stock Units | Thirty-six Equal Monthly Installments | Non-employee Directors
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Award vesting period (year)	3 years
Inducement Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total stock-based compensation expense			$ 9,958	$ 6,550	$ 6,055
Award vesting period (year)			4 years
Options, grants in period, weighted average grant date fair value (in dollars per share) | $ / shares			$ 5.79	$ 9.54	$ 9.65
Total unrecognized compensation cost			$ 16,216
Expiration period (year)			10 years
Expected Dividend Yield			0.00%	0.00%	0.00%
Options, exercises in period, intrinsic value				$ 3,710	$ 6,700
Options, vested in period, fair value			$ 7,698	$ 4,659	$ 2,885
Weighted average period for recognition			1 year 6 months
Inducement Plan | Vest 25% Each Year Until Fully Vested
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Award vesting rights, percentage			25.00%
Inducement Plan | Share-based Payment Arrangement, Option
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Options, grants in period, gross (in shares) | shares			1,196,000
Options, exercisable, weighted average remaining contractual term (year)			6 years 10 months 20 days
Expected Dividend Yield			0.00%
Options, exercises in period, intrinsic value			$ 1,803
Exercise of stock options, net (in shares) | shares			344,000
Options, aggregate intrinsic value			$ 3,434
Number of stock option awards vested and expected to vest (in shares) | shares			5,122,000
Weighted average exercise price of stock option awards vested and expected to vest (in dollars per share) | $ / shares			$ 8.68
Stock option awards vested and expected to vest, weighted average remaining contractual life (year)			7 years 8 months 19 days
Inducement Plan | Restricted Stock Units (RSUs)
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Options, grants in period, weighted average grant date fair value (in dollars per share) | $ / shares			$ 7.81	$ 13.21	$ 0
Restricted stock units, grants in period, weighted average grant date fair value (in dollars per share) | $ / shares			$ 7.81
Total unrecognized compensation cost			$ 7,044
Weighted average period for recognition			1 year 9 months 18 days
ESPP
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Total stock-based compensation expense			$ 1,076	$ 1,435	$ 1,523
Restricted stock units, grants in period, weighted average grant date fair value (in dollars per share) | $ / shares			$ 3.82	$ 6.02	$ 2.80
Number of shares authorized (in shares) | shares			7,975,000
Number of shares available for grant (in shares) | shares			5,454,000
Percentage of salary to purchase common stock, maximum			15.00%
Percentage of common stock shares, beginning			85.00%
Percentage of common stock shares, ending			85.00%
Maximum number of shares per employee (in shares) | shares			3,000
Maximum number of shares per employee, amount			$ 25
Weighted average purchase price of shares purchased (in dollars per share) | $ / shares			$ 7.68	$ 11.03	$ 6.20