Balance Sheet Components - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]
Prepaid co-pay assistance program	$ 4,948	$ 3,226
Prepaid insurance	852	956
Prepaid clinical trial costs	4,196	172
Other prepaid expenses and current assets	10,184	6,257
Total prepaid expenses and other current assets	$ 20,180	$ 10,611