Revenue - Schedule of Collaboration Revenue (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Disaggregation Of Revenue [Line Items]
Revenue	$ 8,124	$ 6,554	$ 14,700	$ 27,016
Neurocrine Biosciences [Member] | Collaboration Revenue [Member]
Disaggregation Of Revenue [Line Items]
Recognition of the transaction price	823	5,246	1,440	23,006
Research and development services	2,031	$ 1,308	4,990	$ 4,010
Milestone payments	$ 5,270		5,270
Flexion [Member] | Collaboration Revenue [Member]
Disaggregation Of Revenue [Line Items]
Milestone payments			$ 3,000