Collaborative Arrangements - Merck Platform Technology Transfer and License Agreement (Details) - Merck - Technology Transfer and License Agreement - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Aug. 31, 2015
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Liability, revenue recognized	$ 0.6	$ 3.1	$ 4.0
Contingent receivable				$ 15.0
Maintenance
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Liability, revenue recognized			0.9
Research and development revenue
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Liability, revenue recognized	$ 0.1	$ 0.1	$ 0.9