Composition of Other Balance Sheet Items - Accrued Payable and Accrued Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Accounts payable	$ 3,389	$ 10,543
Accrued compensation, benefits, & related accruals	19,025	16,963
Accrued sales & marketing	11,656	16,783
Accrued R&D expenses	9,659	7,490
Accrued manufacturing expenses	9,569	15,216
Accrued royalties	8,852	12,022
Operating lease liabilities, current portion	8,480	6,791
Other accrued expenses	7,841	10,534
Total	$ 78,471	$ 96,342