Balance Sheet Components - Schedule of Accrued Expenses (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Payables and Accruals [Abstract]
Accrued compensation and related benefits	$ 8,560	$ 14,660
Accrued clinical trials	8,683	8,319
Accrued professional service fees	7,958	5,372
Accrued rebates payable	7,332	4,284
Accrued contract manufacturing and non-clinical costs	5,256	3,927
Accrued royalties payable	2,610	2,456
Accrued milestone payments	0	15,000
Total accrued expenses	$ 40,399	$ 54,018