Revenue - Schedule of Collaboration Revenue (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Disaggregation Of Revenue [Line Items]
Revenue	$ 536	$ 2,218	$ 9,302	$ 6,576
Collaboration Revenue [Member]
Disaggregation Of Revenue [Line Items]
Revenue	536	2,218	9,302	6,576
Neurocrine Biosciences [Member] | Collaboration Revenue [Member]
Disaggregation Of Revenue [Line Items]
Recognition of the transaction price		617	372	617
Research and development services	$ 536	$ 1,601	1,806	2,959
Milestone payments			7,124	0
Pacira BioSciences [Member] | Collaboration Revenue [Member]
Disaggregation Of Revenue [Line Items]
Milestone payments			$ 0	$ 3,000