Balance Sheet Components - Property and Equipment, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Property, Plant and Equipment [Line Items]
Total property and equipment, at cost	$ 36,579	$ 25,387
Accumulated depreciation and amortization	(21,481)	(16,397)
Total property and equipment, net	15,098	8,990
Leasehold improvements
Property, Plant and Equipment [Line Items]
Total property and equipment, at cost	8,607	6,863
Laboratory equipment
Property, Plant and Equipment [Line Items]
Total property and equipment, at cost	17,533	10,643
Computer equipment
Property, Plant and Equipment [Line Items]
Total property and equipment, at cost	2,311	1,783
Software, including software developed for internal use
Property, Plant and Equipment [Line Items]
Total property and equipment, at cost	4,627	3,793
Furniture and fixtures
Property, Plant and Equipment [Line Items]
Total property and equipment, at cost	2,502	1,544
Construction-in-process
Property, Plant and Equipment [Line Items]
Total property and equipment, at cost	$ 999	$ 761