Revenue - Schedule of Collaboration Revenue (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Disaggregation Of Revenue [Line Items]
Revenue	$ 4,358	$ 7,078
Collaboration Revenue [Member]
Disaggregation Of Revenue [Line Items]
Revenue	4,358	7,078
Neurocrine Biosciences [Member] | Collaboration Revenue [Member]
Disaggregation Of Revenue [Line Items]
Recognition of the transaction price		5,844
Research and development services	1,358	$ 1,234
Flexion [Member] | Collaboration Revenue [Member]
Disaggregation Of Revenue [Line Items]
Milestone payments	$ 3,000