Collaboration Agreements - Schedule of Collaboration Revenue (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Total revenue	$ 9,434	$ 18,437	$ 32,166
Collaboration Revenue [Member]
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Total revenue	9,434	18,437	32,166
Neurocrine Biosciences [Member] | Collaboration Revenue [Member]
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Recognition of the transaction price	372	3,715	26,810
Research and development services	1,938	6,452	5,356
Milestone payments	7,124	5,270
Total revenue	$ 2,310	10,167	$ 32,166
Pacira BioSciences [Member] | Collaboration Revenue [Member]
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Milestone payments		$ 3,000