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Balance Sheets Details - Property and Equipment, net (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Property, Plant and Equipment [Line Items]          
Property and equipment $ 65,797   $ 65,797   $ 62,435
Less: accumulated depreciation and amortization (42,472)   (42,472)   (39,821)
Property and equipment, net 23,325   23,325   22,614
Depreciation 1,480 $ 1,341 2,946 $ 2,556  
Laboratory equipment          
Property, Plant and Equipment [Line Items]          
Property and equipment 40,813   40,813   39,679
Leasehold improvements          
Property, Plant and Equipment [Line Items]          
Property and equipment 16,771   16,771   16,633
Computer equipment and software          
Property, Plant and Equipment [Line Items]          
Property and equipment 3,090   3,090   3,039
Office equipment and furniture          
Property, Plant and Equipment [Line Items]          
Property and equipment 1,360   1,360   1,345
Construction in progress          
Property, Plant and Equipment [Line Items]          
Property and equipment $ 3,763   $ 3,763   $ 1,739