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Commitments and Contingencies - Additional Information (Details) - RenewalOption
1 Months Ended
Oct. 31, 2023
May 31, 2022
Nov. 30, 2021
Feb. 28, 2021
Dec. 31, 2016
Dec. 31, 2023
Commitments And Contingencies [Line Items]            
Weighted-average remaining lease term           5 years 1 month 6 days
Weighted-average discount rate           9.30%
Union City Facility            
Commitments And Contingencies [Line Items]            
Number of lease renewal term       1    
Lease renewal term       5 years    
Lease commenced month and year       2021-05    
Term of lease       10 years    
Office and Laboratory Space | South San Francisco, California            
Commitments And Contingencies [Line Items]            
Lease expiration month and year         2025-05  
Number of lease renewal term         2  
Lease renewal term         5 years  
Additional Office and Laboratory Space | South San Francisco, California            
Commitments And Contingencies [Line Items]            
Lease Expiration Date   Dec. 31, 2022 Jun. 30, 2022      
Second Amendment | South San Francisco, California            
Commitments And Contingencies [Line Items]            
Lease Expiration Date Nov. 30, 2024