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Balance Sheet Components - Summary of Property and Equipment, Net (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Property Plant And Equipment [Line Items]    
Property and equipment, gross $ 48,133 $ 44,616
Less accumulated depreciation and amortization (22,612) (17,286)
Total property and equipment, net 25,521 27,330
Computer Equipment    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 2,310 2,294
Furniture and Fixtures    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 2,430 2,330
Lab Equipment    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 17,165 14,043
Leasehold Improvements    
Property Plant And Equipment [Line Items]    
Property and equipment, gross $ 26,228 $ 25,949