Balance Sheet Components - Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Accrued manufacturing costs	$ 22,307	$ 9,955
Accrued compensation	17,087	19,013
Accrued clinical costs and other research & development costs	16,297	15,887
Operating lease liability, current	7,318	5,453
Other accrued costs and current liabilities	$ 3,682	$ 2,857
Operating Lease, Liability, Current, Statement of Financial Position [Extensible List]	Total accrued expenses and other current liabilities	Total accrued expenses and other current liabilities
Total accrued expenses and other current liabilities	$ 66,691	$ 53,165