Leases - Additional Information (Details) $ in Thousands	1 Months Ended					3 Months Ended
	Feb. 28, 2022	Jan. 31, 2021 RenewalOption	Nov. 30, 2020	Jul. 31, 2019	Jul. 31, 2016 RenewalOption	Mar. 31, 2023 USD ($)	Mar. 31, 2022 USD ($)	Dec. 31, 2022 USD ($)
Lessee Lease Description [Line Items]
Operating lease right-of-use assets						$ 19,658		$ 21,288
Operating lease liabilities						16,585
Operating leases, rent expense recognized						$ 1,900	$ 2,200
Headquarters Facility
Lessee Lease Description [Line Items]
Operating lease, agreement term					5 years
Operating lease, commencement date					Sep. 01, 2016
Lease Termination Date	Feb. 12, 2022
Lease expiration date					Aug. 31, 2021
Operating lease, renewal option | RenewalOption					2
Operating lease, renewal term					30 months
Operating lease, option to renewal, description						30-month renewal options
Operating lease, existence of option to renewal					true
Operating lease, description						In July 2016, we entered into a five-year lease agreement for our previous headquarters facility located in Foster City, California. The original term of the lease was from September 1, 2016 to August 31, 2021, with two 30-month renewal options.
Operating lease, extended term			6 months
Operating lease, extended maturity date			Mar. 01, 2022
Additional Facility
Lessee Lease Description [Line Items]
Operating lease, commencement date				Jul. 01, 2019
Lease expiration date				Oct. 31, 2021
Operating lease, option to renewal, description						no renewal options
Operating lease, existence of option to renewal				false
Operating lease, description						In July 2019, we leased another facility in Foster City, California as a result of growth in personnel and lab space requirements. The original term of this lease was from July 1, 2019 to October 31, 2021, with no renewal options.
Operating lease, extended term			6 months
Operating lease, extended maturity date			Apr. 30, 2022
New Corporate Headquarters Facility
Lessee Lease Description [Line Items]
Operating lease, commencement date		Dec. 03, 2021
Lease expiration date		Dec. 31, 2025
Operating lease, renewal term		60 months
Operating lease, extended term		60 days
Number of renewal options | RenewalOption		2
Palo Alto
Lessee Lease Description [Line Items]
Operating lease, extended maturity date		Mar. 03, 2022
San Carlos
Lessee Lease Description [Line Items]
Operating lease right-of-use assets						$ 28,400
Operating lease liabilities						$ 12,900