Revenue from Collaboration and License Agreements - Summary of Receivables and Contract Liabilities Related to Collaboration and License Agreements Associated with Partners (Details) - USD ($) $ in Thousands	Mar. 31, 2020	Dec. 31, 2019
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Receivables included in "Accounts receivable"	$ 10,673	$ 10,496
Contract liabilities included in "Deferred revenue"	832	2,165
Accounts Receivable [Member]
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Receivables included in "Accounts receivable"	10,330	6,946
Deferred Revenue [Member]
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Contract liabilities included in "Deferred revenue"	2,645	1,550
Collaboration and License Agreements [Member] | Accounts Receivable [Member]
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Receivables included in "Accounts receivable"	717	3,550
Collaboration and License Agreements [Member] | Deferred Revenue [Member]
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Contract liabilities included in "Deferred revenue"	$ 718	$ 1,322