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Leases - Additional Information (Details) $ in Thousands | 1 Months Ended | 12 Months Ended
--- | --- | ---
Feb. 28, 2022 | Jan. 31, 2021 RenewalOption | Nov. 30, 2020 | Jul. 31, 2019 | Jul. 31, 2016 RenewalOption | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($)
Lessee Lease Description [Line Items] |  |  |  |  |  |  |  |
Operating lease, ROU assets |  |  |  |  |  | $ 21,288 | $ 27,958 |
Operating lease liabilities |  |  |  |  |  | 17,941 | 16,783 |
Operating leases, rent expense recognized |  |  |  |  |  | $ 7,900 | $ 3,200 | $ 700
Headquarters Facility |  |  |  |  |  |  |  |
Lessee Lease Description [Line Items] |  |  |  |  |  |  |  |
Operating lease, agreement term |  |  |  |  | 5 years |  |  |
Operating lease, commencement date |  |  |  |  | Sep. 01, 2016 |  |  |
Lease termination date | Feb. 12, 2022 |  |  |  |  |  |  |
Lease expiration date |  |  |  |  | Aug. 31, 2021 |  |  |
Operating lease, renewal option | RenewalOption |  |  |  |  | 2 |  |  |
Operating lease, renewal term |  |  |  |  | 30 months |  |  |
Operating lease, option to renewal, description |  |  |  |  |  |  | 30-month renewal options |
Operating lease, existence of option to renewal |  |  |  |  | true |  |  |
Operating lease, description |  |  |  |  |  | In July 2016, we entered into a five-year lease agreement for our previous headquarters facility located in Foster City, California. The original term of the lease was from September 1, 2016 to August 31, 2021, with two 30-month renewal options. |  |
Operating lease, extended term |  |  | 6 months |  |  |  |  |
Operating lease, extended maturity date |  |  | Mar. 01, 2022 |  |  |  |  |
Additional Facility |  |  |  |  |  |  |  |
Lessee Lease Description [Line Items] |  |  |  |  |  |  |  |
Operating lease, commencement date |  |  |  | Jul. 01, 2019 |  |  |  |
Lease expiration date |  |  |  | Oct. 31, 2021 |  |  |  |
Operating lease, option to renewal, description |  |  |  |  |  | no renewal options |  |
Operating lease, existence of option to renewal |  |  |  | false |  |  |  |
Operating lease, description |  |  |  |  |  | In July 2019, we leased another facility in Foster City, California as a result of growth in personnel and lab space requirements. The original term of this lease was from July 1, 2019 to October 31, 2021, with no renewal options. |  |
Operating lease, extended term |  |  | 6 months |  |  |  |  |
Operating lease, extended maturity date |  |  | Apr. 30, 2022 |  |  |  |  |
New Corporate Headquarters Facility |  |  |  |  |  |  |  |
Lessee Lease Description [Line Items] |  |  |  |  |  |  |  |
Operating lease, commencement date |  | Jan. 22, 2021 |  |  |  |  |  |
Lease expiration date |  | Dec. 31, 2025 |  |  |  |  |  |
Operating lease, renewal term |  | 60 months |  |  |  |  |  |
Operating lease, extended term |  | 60 days |  |  |  |  |  |
Number of renewal options | RenewalOption |  | 2 |  |  |  |  |  |
Palo Alto |  |  |  |  |  |  |  |
Lessee Lease Description [Line Items] |  |  |  |  |  |  |  |
Operating lease, extended maturity date |  | Mar. 03, 2022 |  |  |  |  |  |
San Carlos |  |  |  |  |  |  |  |
Lessee Lease Description [Line Items] |  |  |  |  |  |  |  |
Operating lease, ROU assets |  |  |  |  |  | $ 28,400 |  |
Operating lease liabilities |  |  |  |  |  | $ 12,900 |  |

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