Balance Sheet Components - Schedule of Property and Equipment Net (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	$ 51,874	$ 51,390
Less: accumulated depreciation	(44,841)	(42,894)
Total property and equipment, net	7,033	8,496
Leasehold improvements
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	25,840	25,866
Laboratory equipment and office furniture
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	24,056	23,807
Computer equipment
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	1,583	1,433
Construction-in-progress
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	$ 395	$ 284