Balance Sheet Components - Components of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	$ 95,121	$ 78,648
Less: accumulated depreciation and amortization	(29,198)	(22,704)
Total property and equipment, net	65,923	55,944
Laboratory and manufacturing equipment
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	6,236	5,029
Computer equipment and software
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	2,534	2,353
Furniture and fixtures
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	3,897	4,174
Leasehold improvements
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	23,251	20,431
Internal-use software
Property, Plant and Equipment [Line Items]
Total property and equipment, gross	$ 59,203	$ 46,661