Annual report pursuant to Section 13 and 15(d)

Income Taxes - Narrative (Details)

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Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Tax Disclosure [Abstract]      
Increase in valuation allowance $ 27,200 $ 18,300  
Uncertain tax benefits 4,750 3,684 $ 2,861
Accrued interest and penalties related to uncertain tax positions 0    
Operating Loss Carryforwards [Line Items]      
Increase in unrecognized tax benefits due to additional research and development credits 1,066 823  
Federal      
Operating Loss Carryforwards [Line Items]      
Net operating losses 243,400 193,200  
Net operating loss that can be carried forward indefinitely 197,500    
Federal | Research and Developmental      
Operating Loss Carryforwards [Line Items]      
Tax credit carryforward 7,800    
State      
Operating Loss Carryforwards [Line Items]      
Net operating losses 209,400 $ 149,900  
State | Research and Developmental      
Operating Loss Carryforwards [Line Items]      
Tax credit carryforward $ 7,200