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Collaboration and License Agreements - Additional Information (Details) - USD ($)
3 Months Ended 9 Months Ended
Dec. 16, 2019
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
AbbVie Agreement          
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]          
Common stock shares issued 1,999,415        
Issuance of common stock $ 6,700,000        
Milestone payment   $ 0 $ 0 $ 0 $ 0
AbbVie Agreement | Maximum          
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]          
Contingent development, regulatory and commercial milestone payments $ 135,000,000        
Merck | Maximum | Product Candidate          
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]          
Milestone amount eligible to receive for products or product candidates       297,000,000.0  
Merck | Maximum | Product          
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]          
Milestone amount eligible to receive for products or product candidates       135,000,000.0  
Lilly Agreement | Maximum          
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]          
Deferred revenue   $ 100,000   $ 400,000