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Balance Sheet Components - Summary of Property and Equipment, Net (Details) - USD ($)
$ in Thousands
Jun. 30, 2023
Dec. 31, 2022
Property, Plant and Equipment [Line Items]    
Total property and equipment $ 3,750 $ 5,653
Less accumulated depreciation and amortization (2,399) (3,999)
Property and equipment, net 1,351 1,654
Computers and Software    
Property, Plant and Equipment [Line Items]    
Total property and equipment 1,418 2,715
Building and Leasehold Improvements    
Property, Plant and Equipment [Line Items]    
Total property and equipment 803 750
Laboratory Equipment    
Property, Plant and Equipment [Line Items]    
Total property and equipment 657 958
Furniture, Fixtures, and Office Equipment    
Property, Plant and Equipment [Line Items]    
Total property and equipment 872 1,138
Construction in Progress    
Property, Plant and Equipment [Line Items]    
Total property and equipment $ 0 $ 92