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License and Collaboration Revenues - Narrative (Details)
¥ in Millions
3 Months Ended 9 Months Ended
Nov. 07, 2019
USD ($)
Nov. 07, 2019
JPY (¥)
Mar. 14, 2019
USD ($)
Mar. 14, 2019
JPY (¥)
Oct. 23, 2018
USD ($)
Oct. 23, 2018
JPY (¥)
Jan. 19, 2017
USD ($)
Jan. 19, 2017
JPY (¥)
Jan. 12, 2017
USD ($)
Sep. 30, 2022
USD ($)
Sep. 30, 2021
USD ($)
Sep. 30, 2020
Sep. 30, 2022
USD ($)
Sep. 30, 2021
USD ($)
Sep. 30, 2022
JPY (¥)
Feb. 28, 2022
USD ($)
Feb. 28, 2022
JPY (¥)
May 20, 2021
USD ($)
May 20, 2021
JPY (¥)
Feb. 14, 2019
JPY (¥)
Dec. 31, 2018
USD ($)
Dec. 31, 2018
JPY (¥)
Oct. 05, 2018
JPY (¥)
Collaborative Arrangements Transactions [Line Items]                                              
Estimated performance period                       10 years                      
License and collaboration revenues                                              
Collaborative Arrangements Transactions [Line Items]                                              
Revenue from contract with customer                   $ 492,000 $ 680,000   $ 2,010,000 $ 2,174,000                  
Amended Sato Agreement                                              
Collaborative Arrangements Transactions [Line Items]                                              
Maximum Potential Amount Of Research Activity Costs Paid Per Agreement                 $ 1,000,000                            
Proceeds from License Fees Received $ 4,554,000 ¥ 500 $ 4,460,000 ¥ 500 $ 2,224,000 ¥ 250 $ 10,813,000 ¥ 1,250                              
Aggregate Phase 1 trial milestone payment term under license agreement                                         $ 2,162,000 ¥ 250  
Upfront payment receivable | ¥                                             ¥ 1,250
Upfront payment installments | ¥                                       ¥ 500     250
Aggregate becoming payable upon earlier of specified future dates or achievement of milestone events | ¥                                             1,000
Aggregate commercial milestone payments potentially receivable under license agreement | ¥                             ¥ 500               ¥ 3,900
Milestone payment received                               $ 4,323,000 ¥ 500 $ 4,572,000 ¥ 500        
Amended Sato Agreement | License and collaboration revenues                                              
Collaborative Arrangements Transactions [Line Items]                                              
Revenue from contract with customer                   646,000 $ 680,000   1,939,000 $ 2,174,000                  
MC2 Agreement | License and collaboration revenues                                              
Collaborative Arrangements Transactions [Line Items]                                              
Contra expense                   2,918,000     6,081,000                    
Accrued deposit liability                   $ 2,799,000     $ 2,799,000