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Leases - Additional Information (Details) | 1 Months Ended | 3 Months Ended | 9 Months Ended |
--- | --- | --- | --- | ---
Feb. 28, 2022 | Jan. 31, 2021 RenewalOption | Nov. 30, 2020 | Jul. 31, 2019 | Jul. 31, 2016 RenewalOption | Sep. 30, 2023 USD ($) | Sep. 30, 2022 USD ($) | Sep. 30, 2023 USD ($) | Sep. 30, 2022 USD ($) | Dec. 31, 2022 USD ($)
Lessee Lease Description [Line Items] |  |  |  |  |  |  |  |  |  |
Operating lease right-of-use assets |  |  |  |  |  | $ 16,333,000 |  | $ 16,333,000 |  | $ 21,288,000
Operating lease liabilities |  |  |  |  |  | 13,809,000 |  | 13,809,000 |  |
Operating lease rent expense recognized |  |  |  |  |  | $ 1,900,000 | $ 1,900,000 | $ 5,800,000 | $ 6,000,000 |
Assignment Agreement |  |  |  |  |  |  |  |  |  |
Lessee Lease Description [Line Items] |  |  |  |  |  |  |  |  |  |
Operating lease, agreement term |  |  |  |  |  | 10 years |  | 10 years |  |
Operating lease, commencement date |  |  |  |  |  |  |  | Oct. 01, 2023 |  |
Lease expiration date |  |  |  |  |  |  |  | Nov. 30, 2031 |  |
Operating lease right-of-use assets |  |  |  |  |  | $ 0 |  | $ 0 |  |
Operating lease liabilities |  |  |  |  |  | 0 |  | 0 |  |
Operating lease rent expense recognized |  |  |  |  |  |  |  | $ 0 |  |
Operating lease rental adjustment |  |  |  |  |  |  |  | 3.00% |  |
Description of lease not yet commenced |  |  |  |  |  |  |  | For accounting purposes, as of September 30, 2023, this new lease had not yet commenced and, as such, no lease liability or ROU asset were recorded on the condensed balance sheet and no operating lease expense had been recorded on the condensed statements of operations and comprehensive loss for the three and nine months ended September 30, 2023 |  |
Assumed lease rental payment |  |  |  |  |  |  |  | $ 1,900,000 |  |
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 |  | Dec. 03, 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 right-of-use assets |  |  |  |  |  | 28,400,000 |  | $ 28,400,000 |  |
Operating lease liabilities |  |  |  |  |  | $ 12,900,000 |  | $ 12,900,000 |  |

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