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Balance Sheet Components - Components of Property and Equipment, Net (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Property, Plant and Equipment [Line Items]    
Total property and equipment, gross $ 48,097 $ 34,096
Less: accumulated depreciation and amortization (13,850) (7,632)
Total property and equipment, net 34,247 26,464
Laboratory and manufacturing equipment    
Property, Plant and Equipment [Line Items]    
Total property and equipment, gross 4,667 4,238
Computer equipment and software    
Property, Plant and Equipment [Line Items]    
Total property and equipment, gross 2,005 2,315
Furniture and fixtures    
Property, Plant and Equipment [Line Items]    
Total property and equipment, gross 3,794 3,669
Leasehold improvements    
Property, Plant and Equipment [Line Items]    
Total property and equipment, gross 9,215 7,597
Internal-use software    
Property, Plant and Equipment [Line Items]    
Total property and equipment, gross $ 28,416 $ 16,277