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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
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Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items] |  |  |  |
Liabilities related to the sales of future royalties, net – beginning balance |  |  | $ 155,378 |
Non-cash royalty revenue |  |  | (50,860) | $ (52,167)
Non-cash interest expense | $ 5,910 | $ 6,953 | 18,467 | $ 21,710
Amortization of transaction costs |  |  | 625 |
Liabilities related to the sales of future royalties, net – ending balance | 123,610 |  | 123,610 |
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 |  |  | 55,167 |
Non-cash royalty revenue |  |  | (28,035) |
Non-cash interest expense |  |  | 3,551 |
Amortization of transaction costs |  |  | 0 |
Liabilities related to the sales of future royalties, net – ending balance | 30,683 |  | 30,683 |
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 |  |  | 100,211 |
Non-cash royalty revenue |  |  | (22,825) |
Non-cash interest expense |  |  | 14,916 |
Amortization of transaction costs |  |  | 625 |
Liabilities related to the sales of future royalties, net – ending balance | $ 92,927 |  | $ 92,927 |

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- Definition Liabilities On Sale Of Future Royalties Amortized Transaction Costs + References No definition available. + Details
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- Definition Liability Related To Sale Of Potential Future Royalties Non Current + References No definition available. + Details
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- Definition Non-cash interest expense related to sale of royalties. + References No definition available. + Details
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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 808 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 1 -Subparagraph (d) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479402/808-10-50-1 + Details
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