Commitments and Contingencies - Additional Information (Details)		1 Months Ended		3 Months Ended			9 Months Ended
	Mar. 31, 2019 ExtensionPeriod	Oct. 31, 2020 USD ($) ExtensionPeriod	Mar. 31, 2019	Mar. 31, 2022 USD ($)	Sep. 30, 2021 USD ($)	Mar. 31, 2021 USD ($)	Sep. 30, 2021 USD ($)	Dec. 31, 2021 USD ($)
Lessee Lease Description [Line Items]
Operating lease, number of extension options | ExtensionPeriod		2
Operating lease right-of-use assets		$ 42,200,000		$ 46,401,000				$ 44,909,000
Operating lease liability		$ 28,600,000		28,931,000
Operating lease, remaining lease term		232 months			4 months		4 months
Weighted average incremental borrowing rate					6.00%		6.00%
Cash paid for amounts included in the measurement of lease liabilities					$ 714,000
Administration fee				29,000		$ 29,000
Research and Development Expense				16,135,000		8,163,000
Research and Development Expense Accrued				2,500,000
Other Liabilities, Noncurrent				1,416,000				1,416,000
Accrued Expenses And Other Current Liabilities				9,155,000				10,737,000
Prepaid OperatingLeasePayments		$ 4,900,000
Tenant allowance		13,500,000
Tenant allowance related to prepaid lease payments		3,700,000
Inceptus Medical Inc [Member]
Lessee Lease Description [Line Items]
Royalty Expense				212,000		$ 190,000
Research and Development Expense [Member]
Lessee Lease Description [Line Items]
Research and Development Expense				4,200,000
Other Liabilities, Noncurrent				1,400,000
Accrued Expenses And Other Current Liabilities				$ 1,100,000
Letter of Credit
Lessee Lease Description [Line Items]
Secured debt		$ 1,500,000
Maximum
Lessee Lease Description [Line Items]
Operating lease, term of contract	12 months		12 months
Maximum | Inceptus Medical Inc [Member]
Lessee Lease Description [Line Items]
Related party transaction, rate				1.50%
Minimum | Inceptus Medical Inc [Member]
Lessee Lease Description [Line Items]
Payments for Royalties				$ 1,000
Related party transaction, rate				1.00%
Irvine, California
Lessee Lease Description [Line Items]
Operating lease, term of contract	5 years	10 years	5 years
Operating lease, expiration date	Sep. 30, 2024
Operating lease, number of extension options | ExtensionPeriod	2
Option to extend, operating lease, term	5 years	5 years	5 years
Operating lease, Existence of option to extend		true	true
Operating lease, rent holiday concession period	1 month
Operating lease, description							The lease includes a one-month rent holiday concession and escalation clauses for increased rent over the lease term.
Operating lease right-of-use assets					210,000		$ 210,000
Operating lease liability					$ 237,000		$ 237,000
Oak Canyon [Member]
Lessee Lease Description [Line Items]
Operating lease right-of-use assets								46,100
Operating lease liability								$ 28,600