Other Consolidated Financial Statement Detail - Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Prepaid external research and development expenses	$ 12,767	$ 12,729
Prepaid selling, general, and administrative expenses	8,062	5,811
Short-term interest receivable	1,413	1,772
Other current assets	1,386	1,406
Total prepaid expenses and other current assets	$ 23,628	$ 21,718