Balance Sheet Components - Schedule of Other Accrued Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Balance Sheet Related Disclosures [Abstract]
Accrued contract manufacturing expenses	$ 2,197	$ 1,966
Accrued clinical and research expenses	554	776
Accrued professional services	$ 10,936	$ 8,876
Operating Lease, Liability, Current, Statement of Financial Position [Extensible Enumeration]	Other Liabilities, Current	Other Liabilities, Current
Current portion of lease liabilities	$ 1,268	$ 1,207
Royalty obligation payable	2,531	1,928
Accrued license fees and royalties	1,136	1,575
Other	5,125	3,370
Total other accrued liabilities	$ 23,747	$ 19,698