Segments - Reconciliation of Net Loss Before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Segment Reporting Information [Line Items]
Segment Adjusted EBITDA for operating segments	$ (40,042)	$ (38,856)	$ (31,374)
Other expenses:
Depreciation and amortization	(10,765)	(13,761)	(17,516)
Stock-based compensation expense	(10,206)	(13,904)	(18,366)
Equity in net income (loss) of affiliates	862	(3)	(1,176)
Other	(106)	(24)	(35)
Loss before income taxes	(79,966)	(110,967)	(104,524)
Add recognition of previously deferred revenue associated with upfront and milestone payments
Segment Reporting Information [Line Items]
Add recognition of previously deferred revenue associated with upfront and milestone payments	14,561	397	20,205
Operating segments
Segment Reporting Information [Line Items]
Remove cash paid for capital expenditures, net of proceeds from sale of assets, and cash paid for investments in affiliates	1,362	2,483	605
Operating segments | Add recognition of previously deferred revenue associated with upfront and milestone payments
Segment Reporting Information [Line Items]
Add recognition of previously deferred revenue associated with upfront and milestone payments	16,007	2,034	25,005
Corporate And Reconciling Items
Other expenses:
Interest expense	(6,774)	(18,755)	(18,209)
Depreciation and amortization	(7,191)	(8,139)	(8,292)
Loss from disposals of assets		(53)	(50)
Impairment losses	(1,120)	(543)	(814)
Stock-based compensation expense	(10,197)	(13,554)	(19,008)
Adjustment related to accrued bonuses paid in equity awards	1,698	0	2,833
Equity in net income (loss) of affiliates	861	(3)	(603)
Other	(105)	(19)	11
Unallocated corporate costs
Other expenses:
Loss before income taxes	(32,913)	(33,506)	(48,915)
Eliminations
Other expenses:
Loss before income taxes	(1,552)	(2,056)	(5,713)
Segment Adjusted EBITDA for reportable segments
Segment Reporting Information [Line Items]
Segment Adjusted EBITDA for operating segments	(40,042)	(38,856)	(31,374)
All Other
Segment Reporting Information [Line Items]
Segment Adjusted EBITDA for operating segments		$ 0	$ 0