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Balance Sheet Details - Schedule of Property and Equipment, Net (Details) - USD ($)
$ in Thousands
Dec. 31, 2019
Dec. 31, 2018
Property Plant And Equipment [Line Items]    
Property and equipment, gross $ 27,643 $ 22,772
Less: accumulated depreciation and amortization (8,025) (8,095)
Property and equipment, net 19,618 14,677
Scientific Equipment    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 24,603 18,077
Leasehold Improvements    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 206 1,783
Computer Equipment and Software    
Property Plant And Equipment [Line Items]    
Property and equipment, gross 1,314 1,190
Furniture, Fixtures and Office Equipment    
Property Plant And Equipment [Line Items]    
Property and equipment, gross $ 1,520 $ 1,722