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Commitment and Contingencies- Narrative (Details)
3 Months Ended 6 Months Ended
Mar. 04, 2022
USD ($)
Jun. 30, 2022
USD ($)
lease
Jun. 30, 2021
USD ($)
Jun. 30, 2022
USD ($)
lease
Jun. 30, 2021
USD ($)
Mar. 31, 2022
Jan. 31, 2022
USD ($)
ft²
Dec. 31, 2021
USD ($)
Feb. 28, 2019
ft²
Loss Contingencies [Line Items]                  
Operating lease right-of-use assets   $ 1,553,000   $ 1,553,000       $ 3,051,000  
Amount covered by insurance $ 15,000,000                
Insurance settlements receivable               15,000,000  
Accrued legal settlement   $ 15,000,000   $ 15,000,000       15,000,000  
Letter of Credit                  
Loss Contingencies [Line Items]                  
Borrowing capacity             $ 368,000    
South San Francisco, California                  
Loss Contingencies [Line Items]                  
Term of contract                 5 years
Area of property (in sqft) | ft²                 9,780
Remaining lease term   1 year 10 months 24 days   1 year 10 months 24 days          
Rent expense   $ 345,000 $ 161,000 $ 704,000 $ 322,000        
Ann Arbor, Michigan                  
Loss Contingencies [Line Items]                  
Term of contract           1 year 9 months 18 days      
Number of non-cancelable lease agreements | lease   2   2          
Brisbane, California                  
Loss Contingencies [Line Items]                  
Term of contract             8 years    
Area of property (in sqft) | ft²             20,116    
2022 (excluding the six months ended June 30, 2022)   $ 290,000   $ 290,000          
2023   1,748,000   1,748,000          
2024   1,809,000   1,809,000          
2025   1,872,000   1,872,000          
2026 and beyond   10,009,000   10,009,000          
South San Francisco, California                  
Loss Contingencies [Line Items]                  
Operating lease right-of-use assets   1,553,000   1,553,000       3,051,000  
Present value of operating lease obligations   $ 1,745,000   $ 1,745,000       $ 3,468,000