Research and Collaboration Agreements - Schedule of Revenue by Collaboration Partners (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Revenue	$ 18,165	$ 16,288	$ 35,302	$ 32,259
AbbVie
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Revenue	5,377	2,078	7,804	3,306
Amgen
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Revenue	369	1,874	2,657	4,456
Astellas
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Revenue	5,014	4,931	10,031	9,687
Bristol Myers Squibb
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Revenue	$ 7,405	$ 7,405	$ 14,810	$ 14,810