Balance Sheet Components - Schedule of Accrued and Other Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Balance Sheet Related Disclosures [Abstract]
Research and development expenses	$ 27,314	$ 33,129
Payroll and related expenses	$ 17,508	$ 41,322
Operating Lease, Liability, Current, Statement of Financial Position [Extensible List]	Total accrued and other liabilities	Total accrued and other liabilities
Operating lease liabilities, current	$ 11,913	$ 12,867
Excess funds payable under grant agreements	7,603	9,202
Other professional and consulting expenses	3,492	3,418
Accrued royalties	1,112	816
Net profit-sharing amount	287	0
Accrued income taxes	146	149
Other accrued expenses	2,885	3,317
Total accrued and other liabilities	$ 72,260	$ 104,220