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Commitment and Contingencies - Additional Information (Details) - USD ($) $ in Thousands	1 Months Ended		3 Months Ended	9 Months Ended
	Oct. 31, 2021	Aug. 31, 2021	Sep. 30, 2021	Sep. 30, 2021	Jan. 01, 2021
Lessor, Lease, Description [Line Items]
Accrued Liabilities			$ 1,800	$ 1,800
Lease liabilities			12,539	12,539
Long-term Debt			10,700	10,700
Operating lease costs			$ 500	1,200
Cash paid for operating lease				$ 1,500
Weighted average discount rate			8.20%	8.20%
Weighted-average remaining lease term			6 years 7 months 9 days	6 years 7 months 9 days
Right-of-use assets			$ 12,000	$ 12,000
ASU No. 2016-02
Lessor, Lease, Description [Line Items]
Lease liabilities					$ 2,500
Right-of-use assets					$ 1,700
South San Francisco, California
Lessor, Lease, Description [Line Items]
Operating lease, renewal term			1 year	1 year
Extend the lease term		May 2028
San Diego, California
Lessor, Lease, Description [Line Items]
Operating lease, renewal term			36 months	36 months
Extend the lease term	February 2022

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Carrying value as of the balance sheet date of obligations incurred and payable, pertaining to costs that are statutory in nature, are incurred on contractual obligations, or accumulate over time and for which invoices have not yet been received or will not be rendered. Examples include taxes, interest, rent and utilities.

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