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Balance Sheets Details - Property and Equipment, net (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022 | Dec. 31, 2022
Property, Plant and Equipment [Line Items] |  |  |  |  |
Property and equipment | $ 54,369 |  | $ 54,369 |  | $ 62,435
Less: accumulated depreciation and amortization | (39,087) |  | (39,087) |  | (39,821)
Property and equipment, net | 15,282 |  | 15,282 |  | 22,614
Asset, held-for-sale, not part of disposal group | 600 |  | 600 |  |
Asset impairment charges | 1,500 |  |  |  |
Depreciation | 1,357 | $ 1,405 | 4,302 | $ 3,961 |
San Carlos |  |  |  |  |
Property, Plant and Equipment [Line Items] |  |  |  |  |
Impairment of leasehold | 4,700 |  | 4,700 |  |
Asset impairment charges | 7,700 |  | 7,700 |  |
Laboratory equipment |  |  |  |  |
Property, Plant and Equipment [Line Items] |  |  |  |  |
Property and equipment | 36,376 |  | 36,376 |  | 39,679
Asset, held-for-sale, not part of disposal group | 2,100 |  | 2,100 |  |
Leasehold improvements |  |  |  |  |
Property, Plant and Equipment [Line Items] |  |  |  |  |
Property and equipment | 11,750 |  | 11,750 |  | 16,633
Computer equipment and software |  |  |  |  |
Property, Plant and Equipment [Line Items] |  |  |  |  |
Property and equipment | 3,096 |  | 3,096 |  | 3,039
Office equipment and furniture |  |  |  |  |
Property, Plant and Equipment [Line Items] |  |  |  |  |
Property and equipment | 1,366 |  | 1,366 |  | 1,345
Construction in progress |  |  |  |  |
Property, Plant and Equipment [Line Items] |  |  |  |  |
Property and equipment | $ 1,781 |  | $ 1,781 |  | $ 1,739

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