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Commitment and Contingencies - Narrative (Details)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
USD ($)
Jun. 30, 2023
USD ($)
Jun. 30, 2022
USD ($)
Nov. 30, 2022
USD ($)
Dec. 31, 2021
USD ($)
Aug. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Lessee, Lease, Description [Line Items]              
Open purchase commitment   $ 1,300          
Term of contract           7 years  
Total minimum lease payments $ 49,804 49,804       $ 4,500  
Cash paid for lease liabilities included in operating activities   $ 2,800 $ 1,700        
Weighted average remaining lease term 7 years 1 month 6 days 7 years 1 month 6 days          
Weighted average discount rate 9.10% 9.10%          
Letters of credit $ 600 $ 600   $ 100 $ 200   $ 600
Additional collateral required for letter of credit, as a percent 0.05            
Additional collateral required for letters of credit $ 100            
San Diego              
Lessee, Lease, Description [Line Items]              
Term of contract       39 months      
Total minimum lease payments       $ 2,100      
San Carlos Lease Improvements Line of Credit              
Lessee, Lease, Description [Line Items]              
Maximum borrowing capacity to finance tenant improvements         $ 2,000    
Interest rate on borrowings to finance tenant improvements         7.00%    
October 2021 to October 2031              
Lessee, Lease, Description [Line Items]              
Term of contract             10 years
Total minimum lease payments             $ 40,700
December 2022 to October 2031              
Lessee, Lease, Description [Line Items]              
Term of contract         9 years    
Total minimum lease payments         $ 7,200    
Lease term with option to terminate         5 years