Collaborative Arrangements - GSK Platform Technology Transfer, Collaboration and License Agreement (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($) payment	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Liability, revenue recognized	$ 1,500
GSK Platform
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Liability, revenue recognized				$ 2,000
Additional milestone payments | payment		2
GSK Platform | Research and development revenue
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Liability, revenue recognized	0	$ 4,300	$ 0
GSK Platform | Minimum
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Additional contingent payments	5,750
GSK Platform | Maximum
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Additional contingent payments	$ 38,500