Balance Sheet Components - Schedule of Other Accrued Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2024	Dec. 31, 2023
Balance Sheet Related Disclosures [Abstract]
Accrued contract manufacturing expenses	$ 1,052	$ 1,966
Accrued clinical and research expenses	460	776
Accrued professional services	$ 5,988	$ 8,876
Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Other Liabilities, Current	Other Liabilities, Current
Current portion of lease liabilities	$ 1,451	$ 1,207
Current portion of deferred royalty obligations	663	0
Royalty obligation payable	2,646	1,928
Accrued license fees and royalties	1,465	1,575
Other	3,408	3,370
Total other accrued liabilities	$ 17,133	$ 19,698