Collaborative Arrangements - Nestle Global Development Agreement (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Sales revenue, goods	$ 138,590	$ 104,754	$ 69,056
Nestec Ltd. (Nestle Health Sciences) | Strategic Collaboration Agreement
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Sales revenue, goods	7,100	$ 6,900	$ 7,900
Research and Development Agreement | Nestec Ltd. (Nestle Health Sciences) | Global Development, Option and License Agreement
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Contingent receivable	85,000
Sales-based Milestone | Nestec Ltd. (Nestle Health Sciences) | Global Development, Option and License Agreement
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Contingent receivable	250,000
Target sales for sales milestone	$ 1,000,000