Commitments and Contingencies - Additional Information (Details)		1 Months Ended		3 Months Ended		6 Months Ended
	Mar. 31, 2019 ExtensionPeriod	Oct. 31, 2020 USD ($) ExtensionPeriod	Mar. 31, 2019	Jun. 30, 2022 USD ($)	Jun. 30, 2021 USD ($)	Jun. 30, 2022 USD ($)	Jun. 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		$ 46,653,000		$ 46,653,000		$ 44,909,000
Operating lease liability		$ 28,600,000		$ 28,661,000		$ 28,661,000
Operating lease, remaining lease term		229 months		1 month		1 month
Weighted average incremental borrowing rate				6.10%		6.10%
Cash paid for amounts included in the measurement of lease liabilities				$ 705,000	$ 199,000	$ 1,419,000	$ 398,000
Administration fee				29,000	29,000	58,000	58,000
Research and Development Expense				18,569,000	11,630,000	34,704,000	19,793,000
Research and Development Expense Accrued				2,500,000		2,500,000
Other Liabilities, Noncurrent				1,304,000		1,304,000		1,416,000
Accrued Expenses And Other Current Liabilities				8,076,000		8,076,000		$ 10,737,000
Prepaid OperatingLeasePayments		$ 5,800,000
Tenant allowance		13,500,000
Tenant allowance related to prepaid lease payments		3,700,000
Bank Guarantee Deposit
Lessee Lease Description [Line Items]
Secured debt				186,000		186,000
Inceptus Medical Inc [Member]
Lessee Lease Description [Line Items]
Royalty Expense				0	$ 195,000	212,000	$ 385,000
Research and Development Expense [Member]
Lessee Lease Description [Line Items]
Research and Development Expense						4,200,000
Other Liabilities, Noncurrent				1,300,000		1,300,000
Accrued Expenses And Other Current Liabilities				1,200,000		$ 1,200,000
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				52,000		$ 52,000
Operating lease liability				$ 59,000		$ 59,000
Switzerland
Lessee Lease Description [Line Items]
Operating lease, term of contract				5 years		5 years
Option to extend, operating lease, term				5 years		5 years
Oak Canyon [Member]
Lessee Lease Description [Line Items]
Operating lease right-of-use assets				$ 46,500,000		$ 46,500,000
Operating lease liability				$ 28,500,000		$ 28,500,000