Balance Sheet Details - Property and Equipment (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 57,342	$ 53,069
Less accumulated depreciation and amortization	(35,489)	(29,029)
Construction-in-progress	2,334	1,612
Property and equipment, net	24,187	25,652
Laboratory and manufacturing equipment
Property, Plant and Equipment [Line Items]
Property and equipment, gross	35,563	33,329
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property and equipment, gross	13,785	12,234
Computer equipment and software
Property, Plant and Equipment [Line Items]
Property and equipment, gross	6,232	5,793
Office furniture and fixtures
Property, Plant and Equipment [Line Items]
Property and equipment, gross	$ 1,762	$ 1,713

Amount of accumulated depreciation, depletion and amortization for physical assets used in the normal conduct of business to produce goods and services.

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Amount of structure or a modification to a structure under construction. Includes recently completed structures or modifications to structures that have not been placed into service.

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Amount before accumulated depreciation, depletion and amortization of physical assets used in the normal conduct of business and not intended for resale. Examples include, but are not limited to, land, buildings, machinery and equipment, office equipment, and furniture and fixtures.

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