As a field, telepresence has grown to include a wide range of systems, from multi-view videoconferencing units to humanlike androids. However, the diversity of systems and research makes it difficult to form a holistic understanding of where the field stands. We propose a framework consisting of seven design dimensions for understanding telepresence, iteratively developed from previous literature, a series of three surveys, the construction of two design probes, and a field study. These design dimensions uniquely categorize 17 telepresence scenarios. In this work, we explain our development process, describe our design dimensions— initiation, physical environment, mobility, vision, social environment, communication, and independence—as well as our scenarios, and demonstrate the use of our framework as a tool to (1) highlight opportunities for future work, (2) identify generalizable findings from research, and (3) facilitate communication in the telepresence community.