Balance Sheet Accounts - Accrued Expenses and Other Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Dec. 31, 2020
Balance Sheet Related Disclosures [Abstract]
Royalties payable to commercial partners	$ 5,085	$ 5,996
Accrued research & development	4,100	2,724
Accrued professional fees	2,013	2,370
Accrued salary and other compensation	8,466	4,686
Accrued product sales reserves	$ 4,390	$ 4,966
Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Total Accrued expenses and other liabilities	Total Accrued expenses and other liabilities
Current portion of lease liability	$ 1,309	$ 1,123
All other	6,975	1,952
Total Accrued expenses and other liabilities	$ 32,338	$ 23,817