Revenue - Revenue from Licensing Arrangements (Details) - USD ($) $ in Thousands	3 Months Ended								12 Months Ended
	Dec. 31, 2023	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2019
Collaborative Arrangements and Co-Promote Agreement
Total revenue	$ 17,565	$ 15,693	$ 13,749	$ 10,417	$ 14,649	$ 12,451	$ 11,050	$ 13,196	$ 57,424	$ 51,346
Pfizer
Collaborative Arrangements and Co-Promote Agreement
Initial cash payment											$ 10,000
Total revenue										$ 2,500