Collaborative Arrangements - Merck Platform Technology Transfer and License Agreement (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Aug. 31, 2015
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Liability, revenue recognized	$ 1,500
Merck | Technology Transfer and License Agreement
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Liability, revenue recognized	40	$ 600	$ 3,100
Contingent receivable				$ 15,000
Merck | Technology Transfer and License Agreement | Research and development revenue
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Liability, revenue recognized	$ 0	$ 100	$ 100