Revenue - Schedule of Collaboration Revenue (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Disaggregation Of Revenue [Line Items]
Revenue	$ 8,766	$ 4,358
Collaboration Revenue [Member]
Disaggregation Of Revenue [Line Items]
Revenue	8,766	4,358
Neurocrine Biosciences [Member] | Collaboration Revenue [Member]
Disaggregation Of Revenue [Line Items]
Recognition of the transaction price	372	0
Research and development services	1,270	1,358
Milestone payments	7,124	0
Pacira BioSciences [Member] | Collaboration Revenue [Member]
Disaggregation Of Revenue [Line Items]
Milestone payments	$ 0	$ 3,000