Condensed Consolidated Financial Statement Details - Schedule of Liability Related to Sale of Potential Future Royalties (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Liabilities related to the sales of future royalties, net – beginning balance			$ 155,378
Non-cash royalty revenue			(32,693)	$ (33,825)
Non-cash interest expense	$ 6,152	$ 7,228	12,557	$ 14,757
Amortization of transaction costs			417
Liabilities related to the sales of future royalties, net – ending balance	135,659		135,659
2012 Purchase and Sale Agreement
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Liabilities related to the sales of future royalties, net – beginning balance			55,167
Non-cash royalty revenue			(17,496)
Non-cash interest expense			2,538
Amortization of transaction costs			0
Liabilities related to the sales of future royalties, net – ending balance	40,209		40,209
2020 Purchase and Sale Agreement
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Liabilities related to the sales of future royalties, net – beginning balance			100,211
Non-cash royalty revenue			(15,197)
Non-cash interest expense			10,019
Amortization of transaction costs			417
Liabilities related to the sales of future royalties, net – ending balance	$ 95,450		$ 95,450