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Revenue Recognition - Additional Information (Details)
3 Months Ended 6 Months Ended 9 Months Ended 12 Months Ended
Nov. 07, 2019
JPY (¥)
Nov. 07, 2019
USD ($)
Mar. 14, 2019
JPY (¥)
Mar. 14, 2019
USD ($)
Oct. 23, 2018
JPY (¥)
Oct. 23, 2018
USD ($)
Oct. 05, 2018
USD ($)
Jan. 19, 2017
JPY (¥)
Jan. 19, 2017
USD ($)
Dec. 31, 2019
USD ($)
Sep. 30, 2019
USD ($)
Jun. 30, 2019
USD ($)
Mar. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Sep. 30, 2018
USD ($)
Jun. 30, 2018
USD ($)
Mar. 31, 2018
USD ($)
Jun. 30, 2019
USD ($)
Jun. 30, 2018
USD ($)
Sep. 30, 2019
USD ($)
Sep. 30, 2018
USD ($)
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Sep. 13, 2019
JPY (¥)
Aug. 30, 2019
USD ($)
Feb. 14, 2019
JPY (¥)
Dec. 31, 2018
JPY (¥)
Dec. 31, 2018
USD ($)
Oct. 05, 2018
JPY (¥)
Jan. 12, 2017
JPY (¥)
Jan. 12, 2017
USD ($)
Disaggregation of Revenue [Line Items]                                                              
Performance obligations under long-term contracts unsatisfied                   $ 11,504,000                       $ 11,504,000                  
Total revenue                   1,379,000 $ 1,316,000 $ 1,101,000 $ 1,100,000 $ 4,036,000 $ 648,000 $ 649,000 $ 658,000 $ 2,201,000 $ 1,307,000 $ 3,517,000 $ 1,955,000 4,896,000 $ 5,991,000                
License and collaboration revenue                                                              
Disaggregation of Revenue [Line Items]                                                              
Revenue                   1,176,000 1,100,000 1,101,000 1,100,000 4,036,000 648,000 649,000 649,000 2,201,000 1,298,000 3,301,000 1,946,000 4,477,000 5,982,000                
Government research contracts and grants revenue                                                              
Disaggregation of Revenue [Line Items]                                                              
Total revenue                   203,000 216,000 $ 0 $ 0         $ 0   216,000   419,000 0                
Research and development services revenue                                                              
Disaggregation of Revenue [Line Items]                                                              
Revenue                           $ 0 $ 0 $ 0 $ 9,000   $ 9,000   $ 9,000 0 9,000                
Amended Sato Agreement                                                              
Disaggregation of Revenue [Line Items]                                                              
Maximum preclinical studies amount             $ 1,000,000                                                
Payment received under license agreement ¥ 500,000,000 $ 4,554,000 ¥ 500,000,000 $ 4,460,000 ¥ 250,000,000 $ 2,224,000   ¥ 1,250,000,000 $ 10,813,000                                            
Milestone payment received following initiation of Phase 1 trial                                                     ¥ 250,000,000 $ 2,162,000   ¥ 250,000,000 $ 2,162,000
Upfront payment receivable | ¥                                                         ¥ 1,250,000,000    
Upfront payment installments | ¥                                               ¥ 500,000,000   ¥ 500,000,000     250,000,000    
Aggregate becoming payable upon earlier of specified future dates or achievement of milestone events | ¥                                                         1,000,000,000    
Revenue                                           4,477,000 5,982,000                
Fees paid to third party                                           228,000 111,000                
Aggregate commercial milestone payments potentially receivable under license agreement | ¥                                                         ¥ 3,900,000,000 ¥ 900,000,000  
Amended Sato Agreement | License and collaboration revenue                                                              
Disaggregation of Revenue [Line Items]                                                              
Revenue                                           4,477,000 5,982,000                
K N O W Bio Services Agreement | Research and development services revenue                                                              
Disaggregation of Revenue [Line Items]                                                              
Revenue                                           0 $ 9,000                
Other assets | Amended Sato Agreement                                                              
Disaggregation of Revenue [Line Items]                                                              
License agreement execution expense paid to third party                   533,000                       533,000                  
Accrued expenses | Amended Sato Agreement                                                              
Disaggregation of Revenue [Line Items]                                                              
License agreement execution expense paid to third party                   $ 230,000                       230,000                  
National Institutes of Health                                                              
Disaggregation of Revenue [Line Items]                                                              
Amount awarded from government grant                                                 $ 223,000            
National Institutes of Health | Government research contracts and grants revenue                                                              
Disaggregation of Revenue [Line Items]                                                              
Total revenue                                           83,000                  
U.S. Department of Defense                                                              
Disaggregation of Revenue [Line Items]                                                              
Amount awarded from government grant                     $ 1,113,000                 $ 1,113,000                      
U.S. Department of Defense | Government research contracts and grants revenue                                                              
Disaggregation of Revenue [Line Items]                                                              
Total revenue                                           $ 336,000