Collaboration Agreements - Additional Information (Details)	1 Months Ended	3 Months Ended		12 Months Ended
	Dec. 31, 2009 USD ($)	Mar. 31, 2021 USD ($) Milestone	Mar. 31, 2020 USD ($)	Dec. 31, 2020 USD ($)	Nov. 30, 2021 USD ($)	Oct. 31, 2019 USD ($)
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Decrease in revenue		$ 795,000	$ 1,169,000
Collaboration revenue		944,000	1,353,000
Current portion of deferred revenue		3,893,000		$ 4,688,000
Payable to collaborators, current		75,150,000		73,437,000
Interest expense		1,714,000	5,869,000
KKC Agreement | License Agreement Terms
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Upfront license fee received	$ 35,000,000.0
Collaboration revenue, milestone payments received		45,000,000.0
Collaboration revenue, potential milestone payments		$ 52,000,000.0
Number of regulatory development milestones | Milestone		6
Collaboration revenue, additional potential commercial milestone payments		$ 140,000,000.0
Number of commercial milestones | Milestone		4
Decrease in revenue		$ 400,000
Collaboration revenue		800,000	1,200,000
Deferred Revenue		3,900,000
Current portion of deferred revenue		3,900,000
AbbVie
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Payable to collaborators		80,000,000.0				$ 330,000,000.0
Payable to collaborators, current		250,000,000.0
Interest expense		1,700,000	$ 1,600,000
Payable to collaborators, net of current portion		$ 75,200,000
AbbVie | Collaborative Arrangement
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Collaboration revenue				$ 0
AbbVie | Forecast
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Payable to collaborators					$ 80,000,000.0