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Balance Sheet Components - Schedule of Property and Equipment, Net (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Property, Plant and Equipment [Line Items]    
Total property and equipment $ 29,276 $ 51,921
Less accumulated depreciation and amortization (14,512) (16,994)
Property and equipment, net 14,764 34,927
Laboratory equipment    
Property, Plant and Equipment [Line Items]    
Total property and equipment 14,638 14,382
Leasehold improvements    
Property, Plant and Equipment [Line Items]    
Total property and equipment 13,586 34,336
Computer equipment and software    
Property, Plant and Equipment [Line Items]    
Total property and equipment 868 1,325
Furniture and fixtures    
Property, Plant and Equipment [Line Items]    
Total property and equipment 0 868
Construction in progress    
Property, Plant and Equipment [Line Items]    
Total property and equipment $ 184 $ 1,010