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Balance Sheet Components - Components of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands | Mar. 31, 2023 | Dec. 31, 2022
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Organization, Consolidation and Presentation of Financial Statements [Abstract] |  |
Clinical studies | $ 13,883 | $ 14,816
Professional fees | 8,262 | 6,115
Short-term lease liability | 5,738 | 5,591
Deferred revenue | 5,841 | 5,342
Deferred payments for intangible assets | 2,641 | 2,062
Accrued royalty | 2,087 | 4,633
Laboratory processing fees and materials | 1,760 | 2,189
License and other collaboration fees | 1,017 | 1,000
Contingent consideration | 825 | 1,025
Accrued shipping expenses | 459 | 489
Capital expenditures | 0 | 1,316
Other accrued expenses | 4,372 | 4,553
Accrued and other liabilities | $ 46,885 | $ 49,131

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