Balance Sheet Details - Property and Equipment, net (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Property, Plant and Equipment, Net, by Type [Abstract]
Property and equipment	$ 62,435	$ 57,227
Less: accumulated depreciation and amortization	(39,821)	(35,882)
Property and equipment, net	22,614	21,345
Depreciation expense	5,402	3,113	$ 1,950
Laboratory equipment
Property, Plant and Equipment, Net, by Type [Abstract]
Property and equipment	39,679	33,101
Equipment retired during period	1,500	600
Leasehold improvements
Property, Plant and Equipment, Net, by Type [Abstract]
Property and equipment	16,633	16,117
Computer equipment and software
Property, Plant and Equipment, Net, by Type [Abstract]
Property and equipment	3,039	3,481
Office equipment and furniture
Property, Plant and Equipment, Net, by Type [Abstract]
Property and equipment	1,345	1,297
Construction in progress
Property, Plant and Equipment, Net, by Type [Abstract]
Property and equipment	$ 1,739	$ 3,231

Amount of accumulated depreciation, depletion and amortization for physical assets used in the normal conduct of business to produce goods and services.

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The amount of expense recognized in the current period that reflects the allocation of the cost of tangible assets over the assets' useful lives. Includes production and non-production related depreciation.

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Amount of divestiture of long-lived, physical assets used in the normal conduct of business and not intended for resale. Examples include, but are not limited to, land, buildings, machinery and equipment, office equipment, furniture and fixtures, and computer equipment.

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Amount before accumulated depreciation, depletion and amortization of physical assets used in the normal conduct of business and not intended for resale. Examples include, but are not limited to, land, buildings, machinery and equipment, office equipment, and furniture and fixtures.

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