License and Collaboration Revenues - Contract Assets and Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2022	Dec. 31, 2021
Collaborative Arrangements Transactions [Line Items]
Deferred revenue, current portion	$ 2,586	$ 2,586
Deferred revenue, net of current portion	8,726	10,665
Amended Sato Agreement
Collaborative Arrangements Transactions [Line Items]
Contract Asset	0	0
Contract Liability	11,312	13,251
Net Deferred Revenue	11,312	13,251
Deferred revenue, current portion	2,586	2,586
Deferred revenue, net of current portion	$ 8,726	$ 10,665