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Balance Sheet Details - Property and Equipment, net (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2024
Dec. 31, 2023
Dec. 31, 2022
Property, Plant and Equipment, Net, by Type [Abstract]      
Property and Equipment $ 55,132 $ 54,798  
Less: accumulated depreciation (40,935) (39,311)  
Property and equipment, net 14,197 15,487  
Depreciation 4,845 5,518 $ 5,402
Research and development      
Property, Plant and Equipment, Net, by Type [Abstract]      
Depreciation 3,964 4,594 4,556
Selling, general and administrative      
Property, Plant and Equipment, Net, by Type [Abstract]      
Depreciation 881 924 $ 846
Laboratory equipment      
Property, Plant and Equipment, Net, by Type [Abstract]      
Property and Equipment 35,949 37,216  
Equipment retired during period 2,600 3,000  
Leasehold improvements      
Property, Plant and Equipment, Net, by Type [Abstract]      
Property and Equipment 12,159 11,912  
Computer equipment      
Property, Plant and Equipment, Net, by Type [Abstract]      
Property and Equipment 2,459 2,565  
Office furniture and equipment      
Property, Plant and Equipment, Net, by Type [Abstract]      
Property and Equipment 1,124 1,469  
Construction in progress      
Property, Plant and Equipment, Net, by Type [Abstract]      
Property and Equipment $ 3,441 $ 1,636