Revenue - Schedule of Collaboration Revenue (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Disaggregation Of Revenue [Line Items]
Revenue	$ 132	$ 8,124	$ 9,434	$ 14,700
Collaboration Revenue [Member]
Disaggregation Of Revenue [Line Items]
Revenue	132	8,124	9,434	14,700
Neurocrine Biosciences [Member] | Collaboration Revenue [Member]
Disaggregation Of Revenue [Line Items]
Recognition of the transaction price		823	372	1,440
Research and development services	$ 132	2,031	1,938	4,990
Milestone payments		$ 5,270	$ 7,124	5,270
Pacira BioSciences [Member] | Collaboration Revenue [Member]
Disaggregation Of Revenue [Line Items]
Milestone payments				$ 3,000