Balance Sheet Details - Summary of Accrued Expenses (Details) - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020
Organization Consolidation And Presentation Of Financial Statements [Abstract]
Accrued interest expense on deferred royalty obligation, current portion	$ 4,227	$ 3,567
Deferred revenue	3,037	188
Accrued royalties and in-license fees	1,235	685
Accrued manufacturing costs	1,469	627
Accrued professional fees	942	660
Accrued other	1,265	767
Total accrued expenses	$ 12,175	$ 6,494