Condensed Consolidated Financial Statement Details - Schedule of Liability Related to Sale of Potential Future Royalties (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Liabilities related to the sales of future royalties, net – beginning balance	$ 155,378
Non-cash royalty revenue	(16,861)	$ (17,561)
Non-cash interest expense	6,405	$ 7,529
Amortization of transaction costs	209
Liabilities related to the sales of future royalties, net – ending balance	145,131
2012 Purchase and Sale Agreement
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Liabilities related to the sales of future royalties, net – beginning balance	55,167
Non-cash royalty revenue	(9,303)
Non-cash interest expense	1,360
Amortization of transaction costs	0
Liabilities related to the sales of future royalties, net – ending balance	47,224
2020 Purchase and Sale Agreement
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Liabilities related to the sales of future royalties, net – beginning balance	100,211
Non-cash royalty revenue	(7,558)
Non-cash interest expense	5,045
Amortization of transaction costs	209
Liabilities related to the sales of future royalties, net – ending balance	$ 97,907