Balance Sheet Components - Schedule of Other Accrued Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]
Accrued contract manufacturing expenses	$ 5,645	$ 8,382
Accrued clinical expenses	712	692
Accrued research expenses	211	349
Accrued professional services	9,796	3,977
Current portion of lease liabilities	1,211	1,316
Current portion of deferred royalty obligation	3,976	2,639
Accrued license fees and royalties	730	943
Other	2,418	2,909
Total other accrued liabilities	$ 24,699	$ 21,207