Annual report pursuant to Section 13 and 15(d)

Equity Incentive Plans, Equity Inducement Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Schedule of Stock-Based Compensation Expense Recognized (Details)

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Equity Incentive Plans, Equity Inducement Plans, Employee Stock Purchase Plan and Stock-Based Compensation - Schedule of Stock-Based Compensation Expense Recognized (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Total stock-based compensation expense $ 24,908 $ 26,304 $ 23,241
Research and Development Expense      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Total stock-based compensation expense 11,832 10,106 7,126
Research and Development Expense | Stock Options      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Total stock-based compensation expense 2,183 2,287 2,208
Research and Development Expense | Restricted Stock Units      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Total stock-based compensation expense 6,796 5,781 4,920
Research and Development Expense | ESPP      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Total stock-based compensation expense 764 592 638
General and Administrative Expense      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Total stock-based compensation expense 13,076 16,198 16,115
General and Administrative Expense | Stock Options      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Total stock-based compensation expense 6,066 10,261 11,045
General and Administrative Expense | Restricted Stock Units      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Total stock-based compensation expense 8,885 7,227 4,280
General and Administrative Expense | ESPP      
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]      
Total stock-based compensation expense $ 214 $ 156 $ 150