Balance Sheets Details - Property and Equipment, net (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023
Property, Plant and Equipment [Line Items]
Property and equipment	$ 54,572		$ 54,798
Less: accumulated depreciation and amortization	(39,904)		(39,311)
Property and equipment, net	14,668		15,487
Total depreciation expense	1,252	$ 1,466
Research and development
Property, Plant and Equipment [Line Items]
Total depreciation expense	1,032	1,243
Selling, general and administrative
Property, Plant and Equipment [Line Items]
Total depreciation expense	220	$ 223
Laboratory equipment
Property, Plant and Equipment [Line Items]
Property and equipment	37,744		37,216
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property and equipment	11,901		11,912
Computer equipment and software
Property, Plant and Equipment [Line Items]
Property and equipment	2,642		2,565
Office equipment and furniture
Property, Plant and Equipment [Line Items]
Property and equipment	1,116		1,469
Construction in progress
Property, Plant and Equipment [Line Items]
Property and equipment	$ 1,169		$ 1,636