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Balance Sheet Details - Property and Equipment (Details) - USD ($)
$ in Thousands
Sep. 30, 2020
Dec. 31, 2019
Property, Plant and Equipment [Line Items]    
Property and equipment, gross $ 33,680 $ 32,934
Less accumulated depreciation and amortization (26,262) (24,954)
Construction-in-progress 113 76
Property and equipment, net 7,531 8,056
Computer equipment and software    
Property, Plant and Equipment [Line Items]    
Property and equipment, gross 4,363 3,997
Laboratory and manufacturing equipment    
Property, Plant and Equipment [Line Items]    
Property and equipment, gross 18,988 19,325
Leasehold improvements    
Property, Plant and Equipment [Line Items]    
Property and equipment, gross 8,118 7,788
Office furniture and fixtures    
Property, Plant and Equipment [Line Items]    
Property and equipment, gross $ 2,211 $ 1,824