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Balance Sheet Components - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 51,921	$ 46,234
Less accumulated depreciation and amortization	(16,994)	(13,174)
Property and equipment, net	34,927	33,060
Computer equipment and software
Property, Plant and Equipment [Line Items]
Total property and equipment	1,325	1,224
Laboratory equipment
Property, Plant and Equipment [Line Items]
Total property and equipment	14,382	12,778
Furniture and fixtures
Property, Plant and Equipment [Line Items]
Total property and equipment	868	1,136
Leasehold improvements
Property, Plant and Equipment [Line Items]
Total property and equipment	34,336	26,701
Construction in progress
Property, Plant and Equipment [Line Items]
Total property and equipment	$ 1,010	$ 4,395

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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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