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Revenue Recognition - Additional Information (Details)
3 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 ($)
Jan. 19, 2017
JPY (¥)
Jan. 19, 2017
USD ($)
Jan. 12, 2017
JPY (¥)
Jan. 12, 2017
USD ($)
Mar. 31, 2020
USD ($)
Mar. 31, 2019
USD ($)
Feb. 29, 2020
USD ($)
Dec. 31, 2019
JPY (¥)
Dec. 31, 2019
USD ($)
Sep. 30, 2019
USD ($)
Sep. 13, 2019
JPY (¥)
Aug. 30, 2019
USD ($)
Feb. 14, 2019
JPY (¥)
Oct. 05, 2018
JPY (¥)
Jan. 12, 2017
USD ($)
Disaggregation of Revenue [Line Items]                                          
Performance obligations under long-term contracts unsatisfied                     $ 10,361,000                    
Total revenue                     1,213,000 $ 1,100,000                  
License and collaboration revenue                                          
Disaggregation of Revenue [Line Items]                                          
Revenue                     1,024,000 1,100,000                  
Government research contracts and grants revenue                                          
Disaggregation of Revenue [Line Items]                                          
Total revenue                     189,000 0                  
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 ¥ 1,250,000,000 $ 10,813,000                      
Milestone payment received following initiation of Phase 1 trial                 250,000,000         ¥ 250,000,000 $ 2,162,000           $ 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  
Potential future sales-based milestone payments | ¥                 ¥ 900,000,000                     ¥ 3,900,000,000  
Amended Sato Agreement | License and collaboration revenue                                          
Disaggregation of Revenue [Line Items]                                          
Revenue                     1,024,000 $ 1,100,000                  
National Institutes of Health                                          
Disaggregation of Revenue [Line Items]                                          
Amount awarded from government grant                         $ 997,000     $ 1,113,000   $ 223,000      
National Institutes of Health | Phase 1 Grant                                          
Disaggregation of Revenue [Line Items]                                          
Total revenue                     24,000                    
National Institutes of Health | Phase 2 Grant                                          
Disaggregation of Revenue [Line Items]                                          
Total revenue                     0                    
U.S. Department of Defense | Government research contracts and grants revenue                                          
Disaggregation of Revenue [Line Items]                                          
Total revenue                     $ 165,000