Restructuring, Impairment and Costs of Terminated Program - Sublease Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]
Book value in excess of fair value	$ 36,962	$ 67,875
Less: Amounts recorded as amortization for Third St. facility and Mission Bay facility	(1,634)	(2,114)
Total impairment of sublease assets		65,761
Total impairment of right-of-use assets and property, plant and equipment	35,328	65,761	$ 0
Reported Value Measurement
Restructuring Cost and Reserve [Line Items]
Property, plant and equipment and operating lease right-of-use assets	53,498	88,829
Property, Plant and Equipment
Restructuring Cost and Reserve [Line Items]
Book value in excess of fair value	5,034	11,568
Less: Amounts recorded as amortization for Third St. facility and Mission Bay facility	(263)	(397)
Total impairment of sublease assets	30,600	11,171
Total impairment of right-of-use assets and property, plant and equipment	4,771
Property, Plant and Equipment | Reported Value Measurement
Restructuring Cost and Reserve [Line Items]
Property, plant and equipment and operating lease right-of-use assets	7,206	16,348
Operating Lease Right-of-Use Assets
Restructuring Cost and Reserve [Line Items]
Book value in excess of fair value	31,928	56,307
Less: Amounts recorded as amortization for Third St. facility and Mission Bay facility	(1,371)	(1,717)
Total impairment of sublease assets		54,590
Total impairment of right-of-use assets and property, plant and equipment	30,557
Operating Lease Right-of-Use Assets | Reported Value Measurement
Restructuring Cost and Reserve [Line Items]
Property, plant and equipment and operating lease right-of-use assets	46,292	72,481
Level 3 | Estimate of Fair Value Measurement
Restructuring Cost and Reserve [Line Items]
Property, plant and equipment and operating lease right-of-use assets	(16,536)	(20,954)
Level 3 | Property, Plant and Equipment | Estimate of Fair Value Measurement
Restructuring Cost and Reserve [Line Items]
Property, plant and equipment and operating lease right-of-use assets	(2,172)	(4,780)
Level 3 | Operating Lease Right-of-Use Assets | Estimate of Fair Value Measurement
Restructuring Cost and Reserve [Line Items]
Property, plant and equipment and operating lease right-of-use assets	$ (14,364)	$ (16,174)