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Related Party Transactions - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
May 29, 2018
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Jun. 30, 2020
Dec. 31, 2019
Related Party Transaction [Line Items]              
Common stock, shares owned   50,949,490   50,949,490     4,059,909
Change in fair value of redeemable convertible preferred stock warrant       $ 179 $ (12)    
Accrued expenses payable   $ 2,870   $ 2,870     $ 1,305
Series C Redeemable Convertible Stock              
Related Party Transaction [Line Items]              
Warrant purchase price per share             $ 11.52
Common Stock              
Related Party Transaction [Line Items]              
Warrant purchase price per share             $ 0.79
Common Stock Warrant | Series C Redeemable Convertible Stock              
Related Party Transaction [Line Items]              
Warrant exercised           46,869  
Sutro Biopharma, Inc              
Related Party Transaction [Line Items]              
Common stock, shares owned   1,600,000   1,600,000     1,600,000
Accrued expenses payable   $ 100   $ 100      
Sutro Biopharma, Inc | Maximum              
Related Party Transaction [Line Items]              
Accrued expenses payable             $ 100
Sutro Biopharma, Inc | License Agreement              
Related Party Transaction [Line Items]              
Percentage of royalty payment on annual net sales of vaccine products for human health   4.00%   4.00%      
Percentage of royalty payment on net sales of vaccine compositions for animal health   2.00%   2.00%      
Sutro Biopharma, Inc | Supply Agreement              
Related Party Transaction [Line Items]              
Change in fair value of redeemable convertible preferred stock warrant   $ 100 $ 1,000 $ 300 1,100    
Sutro Biopharma, Inc | Series C Redeemable Convertible Stock              
Related Party Transaction [Line Items]              
Warrant to purchase shares of stock             59,276
Warrant purchase price per share             $ 11.5215
Sutro Biopharma, Inc | Series C Redeemable Convertible Stock | License Amendment A2              
Related Party Transaction [Line Items]              
Warrant to purchase shares of stock 59,276            
Warrant purchase price per share $ 11.5215            
Warrant exercisable and vests immediately and expires date May 29, 2018            
Sutro Biopharma, Inc | Common Stock              
Related Party Transaction [Line Items]              
Warrant to purchase shares of stock             31,857
Warrant purchase price per share             $ 0.79289
Sutro Biopharma, Inc | Common Stock Warrant              
Related Party Transaction [Line Items]              
Warrant exercised             30,278
Sutro Biopharma, Inc | Preferred Stock Warrant              
Related Party Transaction [Line Items]              
Warrant exercised             16,591
Change in fair value of redeemable convertible preferred stock warrant   $ 0   $ 200      
Sutro Biopharma, Inc | Preferred Stock Warrant | Maximum              
Related Party Transaction [Line Items]              
Change in fair value of redeemable convertible preferred stock warrant     $ 100   $ 100