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License and Collaboration Revenues - Performance Obligations, Expected Timing of Satisfaction (Details) - Amended Sato Agreement
$ in Thousands
Sep. 30, 2022
USD ($)
Revenue from Contract with Customer [Abstract]  
Performance obligations under long-term contracts unsatisfied $ 11,312
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]  
Performance obligations under long-term contracts unsatisfied $ 11,312
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2022-10-01  
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]  
Estimated performance period 12 months
Revenue remaining performance obligation percentage 23.00%