Condensed Consolidated Financial Statement Details - Schedule of Liability Related to Sale of Potential Future Royalties (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Liabilities related to the sales of future royalties, net – beginning balance	$ 112,625
Non-cash royalty revenue	(15,508)	$ (16,861)
Non-cash interest expense	5,531	$ 6,405
Amortization of transaction costs	209
Proceeds from the Amendment	15,000
Liabilities related to the sales of future royalties, net – ending balance	117,857
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	24,217
Non-cash royalty revenue	(6,944)
Non-cash interest expense	1,831
Amortization of transaction costs	0
Proceeds from the Amendment	0
Liabilities related to the sales of future royalties, net – ending balance	19,104
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	88,408
Non-cash royalty revenue	(8,564)
Non-cash interest expense	3,700
Amortization of transaction costs	209
Proceeds from the Amendment	15,000
Liabilities related to the sales of future royalties, net – ending balance	$ 98,753