Collaboration agreements - Merck Immunosynthen Agreement (Details)	1 Months Ended	12 Months Ended
	Dec. 31, 2022 USD ($) performanceObligation license target	Dec. 31, 2024 USD ($)	Dec. 31, 2023 USD ($)	Dec. 31, 2022 USD ($) performanceObligation license target
Collaboration agreements
Collaboration revenue		$ 40,497,000	$ 36,855,000	$ 26,581,000
Deferred revenue	$ 147,653,000	101,632,000	125,314,000	$ 147,653,000
2022 Merck KGaA Agreement
Collaboration agreements
Number of targets designated | target	2			2
Upfront payment received	$ 30,000,000
Number of licenses | license	2			2
Performance obligations identified | performanceObligation	4			4
Revised transaction price	$ 32,000,000			$ 32,000,000
Contract with customer, receivable, after allowance for credit loss	30,000,000			30,000,000
Collaboration revenue		14,300,000	10,700,000	0
Deferred revenue		$ 7,000,000	$ 20,200,000
2022 Merck KGaA Agreement | Developmental And Regulatory
Collaboration agreements
Aggregate milestones	200,000,000			200,000,000
2022 Merck KGaA Agreement | Commercial
Collaboration agreements
Aggregate milestones	$ 600,000,000			$ 600,000,000