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Leases - Narrative (Details)
ft² in Thousands, $ in Thousands
3 Months Ended
Mar. 31, 2023
USD ($)
ft²
Mar. 31, 2022
USD ($)
Dec. 31, 2022
USD ($)
Lessee, Lease, Description [Line Items]      
Renewal term 5 years    
Weighted average remaining lease term 9 years 4 months 24 days    
Incremental borrowing rate 6.20%    
Sales-type lease, revenue | $ $ 40 $ 0  
Redwood City, CA | Building      
Lessee, Lease, Description [Line Items]      
Lessee, Operating Lease, Number of Square Feet | ft² 51    
San Diego, CA | Building      
Lessee, Lease, Description [Line Items]      
Lessee, Operating Lease, Number of Square Feet | ft² 6    
Facility Lease Agreement Letter of Credit | Letter of Credit      
Lessee, Lease, Description [Line Items]      
Letter of credit issued | $ $ 500   $ 500