Composition of Other Balance Sheet Items - Accounts Payable and Accrued Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Accounts payable	$ 1,964	$ 10,543
Accrued compensation, benefits, & related accruals	20,722	16,963
Accrued manufacturing expenses	11,652	15,216
Accrued sales & marketing	11,666	16,783
Accrued R&D expenses	10,530	7,490
Operating lease liabilities, current portion	8,331	6,791
Accrued royalties	7,918	12,022
Other accrued expenses	6,786	10,534
Total	$ 79,569	$ 96,342