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, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Liabilities related to the sales of future royalties, net – beginning balance			$ 112,625
Non-cash royalty revenue			(32,298)	$ (32,693)
Non-cash interest expense	$ 6,408	$ 6,152	11,939	$ 12,557
Amortization of transaction costs			240
Proceeds from the Amendment			15,000
Liabilities related to the sales of future royalties, net – ending balance	107,506		107,506
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			24,217
Non-cash royalty revenue			(14,104)
Non-cash interest expense			3,488
Amortization of transaction costs			0
Proceeds from the Amendment			0
Liabilities related to the sales of future royalties, net – ending balance	13,601		13,601
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			88,408
Non-cash royalty revenue			(18,194)
Non-cash interest expense			8,451
Amortization of transaction costs			240
Proceeds from the Amendment			15,000
Liabilities related to the sales of future royalties, net – ending balance	$ 93,905		$ 93,905