Stock Option and Grant Plan - Summary of Stock-based Compensation Expense (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] | |||
| Stock-based compensation expense | $ 98,647 | $ 84,321 | $ 43,570 |
| Research and Development | |||
| Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] | |||
| Stock-based compensation expense | 57,812 | 52,004 | 26,644 |
| General and Administrative | |||
| Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items] | |||
| Stock-based compensation expense | $ 40,835 | $ 32,317 | $ 16,926 |