Condensed Consolidated Financial Statement Details - Schedule of Liability Related to Sale of Potential Future Royalties (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 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			(50,860)	$ (52,167)
Non-cash interest expense	$ 5,910	$ 6,953	18,467	$ 21,710
Amortization of transaction costs			625
Liabilities related to the sales of future royalties, net – ending balance	123,610		123,610
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			(28,035)
Non-cash interest expense			3,551
Amortization of transaction costs			0
Liabilities related to the sales of future royalties, net – ending balance	30,683		30,683
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			(22,825)
Non-cash interest expense			14,916
Amortization of transaction costs			625
Liabilities related to the sales of future royalties, net – ending balance	$ 92,927		$ 92,927