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Balance Sheet Details - Property and Equipment, net (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Property, Plant and Equipment, Net, by Type [Abstract]
Property and equipment	$ 54,798	$ 62,435
Less: accumulated depreciation and amortization	(39,311)	(39,821)
Property and equipment, net	15,487	22,614
Depreciation expense	5,518	5,402	$ 3,113
Laboratory equipment
Property, Plant and Equipment, Net, by Type [Abstract]
Property and equipment	37,216	39,679
Equipment retired during period	3,000	1,500
Leasehold improvements
Property, Plant and Equipment, Net, by Type [Abstract]
Property and equipment	11,912	16,633
Computer equipment and software
Property, Plant and Equipment, Net, by Type [Abstract]
Property and equipment	2,565	3,039
Office equipment and furniture
Property, Plant and Equipment, Net, by Type [Abstract]
Property and equipment	1,469	1,345
Construction in progress
Property, Plant and Equipment, Net, by Type [Abstract]
Property and equipment	$ 1,636	$ 1,739

X

- Definition

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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- Definition

The amount of expense recognized in the current period that reflects the allocation of the cost of tangible assets over the assets' useful lives. Includes production and non-production related depreciation.

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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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