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, 2024	Sep. 30, 2023	Sep. 30, 2024	Sep. 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			(48,029)	$ (50,860)
Non-cash interest expense	$ 6,020	$ 5,910	17,959	$ 18,467
Amortization of transaction costs			274
Proceeds from the Amendment			15,000
Liabilities related to the sales of future royalties, net – ending balance	97,829		97,829
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			(19,007)
Non-cash interest expense			4,940
Amortization of transaction costs			0
Proceeds from the Amendment			0
Liabilities related to the sales of future royalties, net – ending balance	10,150		10,150
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			(29,022)
Non-cash interest expense			13,019
Amortization of transaction costs			274
Proceeds from the Amendment			15,000
Liabilities related to the sales of future royalties, net – ending balance	$ 87,679		$ 87,679