Balance Sheet Details - Schedule of Accrued Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Accrued payroll and employee liabilities
Accrued employee salaries and benefits	$ 1,371	$ 2,134
Accrued bonuses	5,499	7,783
Accrued vacation	2,354	3,499
Total accrued payroll and employee liabilities	9,224	13,416
Other accrued liabilities
Accrued product sales allowances	36,529	33,317
Accrued consulting and professional fees	3,940	4,236
Accrued accounts payable	559	363
Accrued interest	412	94
Other accrued liabilities	415	542
Total other accrued liabilities	$ 41,855	$ 38,552