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Segment Information - Narrative (Details)
$ in Thousands
3 Months Ended 6 Months Ended 9 Months Ended
Sep. 30, 2022
USD ($)
Sep. 30, 2021
USD ($)
Jun. 30, 2022
segment
Sep. 30, 2022
USD ($)
segment
Sep. 30, 2021
USD ($)
Segment Reporting Information [Line Items]          
Number of segments (in segments) | segment     1 2  
Percentage of total revenue generated from Japan licensing partner       15.00% 94.00%
Customer concentration risk | Revenue, Segment Benchmark | Research and Development operations          
Segment Reporting Information [Line Items]          
Concentration risk percentage 13.00% 92.00%      
License and collaboration revenues          
Segment Reporting Information [Line Items]          
Revenue from contract with customer $ 492 $ 680   $ 2,010 $ 2,174
License and collaboration revenues | Amended Sato Agreement          
Segment Reporting Information [Line Items]          
Revenue from contract with customer $ 646 $ 680   $ 1,939 $ 2,174