Balance Sheet Components - Schedule of Property and Equipment (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	$ 51,548	$ 51,390
Less: accumulated depreciation and amortization	(43,788)	(42,894)
Total property and equipment, net	7,760	8,496	[1]
Leasehold improvements
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	25,801	25,866
Laboratory equipment and office furniture
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	23,979	23,807
Computer equipment
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	1,433	1,433
Construction-in-progress
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	$ 335	$ 284

[1] The condensed consolidated balance sheet as of December 31, 2022 has been derived from the audited financial statements as of that date.