Research Collaboration and License Agreements - Schedule of Recognized Revenue from Collaboration and License Agreements (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Related party revenue	$ 4,417	$ 55,333	$ 77,882
Merck Sharp & Dohme Corp | Collaboration Agreement
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Related party revenue	$ 4,417	$ 55,333	$ 77,882