Composition of Balance Sheet Items - Accounts Payable and Accrued Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Accounts payable	$ 9,125	$ 6,147
Accrued compensation	13,426	16,008
Accrued royalties	12,781	13,890
Accrued product costs	8,408	9,587
Accrued professional fees	7,453	7,730
Accrued clinical trial costs	6,774	12,842
Operating lease liabilities, current portion	5,904	3,760
Other accrued expenses	8,415	8,970
Total	$ 72,286	$ 78,934