Income Taxes - Schedule of Income Tax Provision Related to Continuing Operations (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Income tax benefit at federal statutory rate	$ (76,647)	$ (109,889)	$ (93,229)
Research credits	(987)	(4,727)	(3,081)
Change in valuation allowance	51,108	97,914	87,060
Expiration of net operating loss carryforwards	12,348	286	286
Stock-based compensation	15,778	6,627	7,929
Non-cash interest expense on liability related to sales of future royalties	6,071	9,936	6,356
Non-cash royalty revenue related to sales of future royalties	(7,112)	(7,891)	(7,967)
Loss on revaluation of liability related to the sale of future royalties	0	4,940	0
Other	2,656	3,361	3,139
Provision for income taxes	$ 3,215	$ 557	$ 493

Effective Income Tax Rate Reconciliation, Expiration of Net Operating Loss Carryforwards

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Effective Income Tax Rate Reconciliation, Non-cash Royalty Revenue Related To Sales Of Future Royalties, Amount

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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to other nondeductible expenses.

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Amount of difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operation, attributable to expense for award under share-based payment arrangement. Excludes expense determined to be nondeductible upon grant or after for award under share-based payment arrangement.

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Amount of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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Amount of difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying domestic federal statutory income tax rates to pretax income (loss) from continuing operations, attributable to disposition of asset. Includes, but is not limited to, intra-entity transfer of asset other than inventory.

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