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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