Balance Sheet Components - Property and Equipment, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 81,302	$ 68,209
Less: accumulated depreciation	(37,215)	(29,344)
Total property and equipment, net	44,087	38,865
Leasehold improvements
Property, Plant and Equipment [Line Items]
Total property and equipment	43,698	35,235
Manufacturing and laboratory equipment
Property, Plant and Equipment [Line Items]
Total property and equipment	34,419	30,114
Computers equipment and purchased software
Property, Plant and Equipment [Line Items]
Total property and equipment	1,605	1,337
Furniture and fixtures
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 1,580	$ 1,523