Income Taxes - Schedule of Significant Components of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Net operating loss carryforwards	$ 574,737	$ 545,508
Research and other credits	144,128	142,198
Net capital loss carryforwards	39,655	38,445
Operating lease liabilities	25,384	28,254
Stock-based compensation	19,447	22,110
Capitalized research and development costs	34,675	24,134
Liability related to the sale of future royalties	6,729	13,424
Other	13,863	13,935
Deferred tax assets before valuation allowance	858,618	828,008
Valuation allowance for deferred tax assets	(854,528)	(816,235)
Total deferred tax assets	4,090	11,773
Deferred tax liabilities:
Operating lease right-of-use assets	(3,824)	(11,335)
Investment in foreign subsidiary	(521)	(2,451)
Other	(265)	(392)
Total deferred tax liabilities	(4,610)	(14,178)
Total deferred tax liabilities	$ (520)	$ (2,405)