Balance Sheet Component - Schedule of Other Long-term Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Balance Sheet Related Disclosures [Abstract]
Long-term portion of deferred royalty obligation	$ 70,057	$ 69,876
Operating Lease, Liability, Noncurrent, Statement of Financial Position [Extensible Enumeration]	Total other long-term liabilities	Total other long-term liabilities
Long-term portion of lease liabilities	$ 1,304	$ 1,635
Contingent value rights liability	325	359
Total other long-term liabilities	$ 71,686	$ 71,870