License and Collaboration Revenues - Summary (Details) - License and collaboration revenues - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Collaborative Arrangements Transactions [Line Items]
Revenue from contract with customer	$ 492	$ 680	$ 2,010	$ 2,174
Product concentration risk | Revenue benchmark
Collaborative Arrangements Transactions [Line Items]
Concentration risk percentage	100.00%		100.00%
Amended Sato Agreement
Collaborative Arrangements Transactions [Line Items]
Revenue from contract with customer	$ 646	$ 680	$ 1,939	$ 2,174
Amended Sato Agreement | Product concentration risk | Revenue benchmark
Collaborative Arrangements Transactions [Line Items]
Concentration risk percentage	131.30%		96.50%
Prasco Agreement
Collaborative Arrangements Transactions [Line Items]
Revenue from contract with customer	$ (154)		$ 71
Prasco Agreement | Product concentration risk | Revenue benchmark
Collaborative Arrangements Transactions [Line Items]
Concentration risk percentage	(31.30%)		3.50%