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Commitments and contingent liabilities - Additional Information (Details) - USD ($)
12 Months Ended
Nov. 06, 2020
Sep. 10, 2018
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Feb. 22, 2023
Feb. 17, 2023
Loss Contingencies [Line Items]              
Lease and rental expense     $ 7,108,000 $ 7,349,000 $ 5,950,000    
Pledged bank deposits     2,296,000 2,350,000      
Operating lease commitments     2,459,000 2,698,000      
Zai License and Collaboration Agreement              
Loss Contingencies [Line Items]              
Non-refundable up-front license fee, amount   $ 15,000,000          
Zai License and Collaboration Agreement | License              
Loss Contingencies [Line Items]              
Regulatory and commercial milestone payments         10,000,000    
Liability, revenue recognized     $ 4,389,000 $ 6,308,000 $ 3,981,000    
Zai License and Collaboration Agreement | License | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date: 2021-01-01              
Loss Contingencies [Line Items]              
Revenue recognition period     6 years        
Minimum | Zai License and Collaboration Agreement | License              
Loss Contingencies [Line Items]              
Percentage of tiered royalties rates on net sales   10.00%          
Maximum | Zai License and Collaboration Agreement              
Loss Contingencies [Line Items]              
Regulatory and commercial milestone payments   $ 78,000,000          
Line of Credit | Revolving Credit Facility              
Loss Contingencies [Line Items]              
Contractual term 3 years            
Maximum borrowing capacity $ 150,000,000            
Covenant compliance, maximum outstanding commitments $ 250,000,000            
Outstanding balance borrowed under the facility     $ 0        
Line of Credit | Revolving Credit Facility | Subsequent Event              
Loss Contingencies [Line Items]              
Outstanding balance borrowed under the facility           $ 0  
Early termination fee payable             $ 0
Line of Credit | Minimum | Revolving Credit Facility              
Loss Contingencies [Line Items]              
Fee for unused revolving credit commitments, percentage 0.35%            
Line of Credit | Minimum | Revolving Credit Facility | London Interbank Offered Rate (LIBOR)              
Loss Contingencies [Line Items]              
Basis spread on variable rate 2.75%            
Line of Credit | Maximum | Revolving Credit Facility              
Loss Contingencies [Line Items]              
Fee for unused revolving credit commitments, percentage 0.45%            
Line of Credit | Maximum | Revolving Credit Facility | London Interbank Offered Rate (LIBOR)              
Loss Contingencies [Line Items]              
Basis spread on variable rate 3.25%