Balance Sheet Components - Schedule of Other Accrued Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]
Accrued contract manufacturing expenses	$ 6,077	$ 8,382
Accrued clinical expenses	514	692
Accrued research expenses	307	349
Accrued professional services	7,299	3,977
Current portion of lease liabilities	1,226	1,316
Current portion of deferred royalty obligation	4,402	2,639
Accrued license fees and royalties	956	943
Other	1,721	2,909
Total other accrued liabilities	$ 22,502	$ 21,207