Collaboration and License Agreements - Schedule of Supplemental Financial Information Related to Collaboration and License Agreements (Details) - USD ($) $ in Thousands	3 Months Ended	6 Months Ended
Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Organization Consolidation And Presentation Of Financial Statements [Abstract]
Revenue recognized that was included in the contract liability at the beginning of the period	$ 5,535	$ 5,312	$ 10,054	$ 8,808
Revenue recognized from performance obligations fully or partially satisfied in previous periods	$ 713	$ 227	$ 713	$ 227

Amount of revenue recognized that was previously included in balance of obligation to transfer good or service to customer for which consideration from customer has been received or is due.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 50
-Paragraph 8
-Subparagraph (b)
-URI http://asc.fasb.org/extlink&oid=121604090&loc=SL49130549-203045

Name:	us-gaap_ContractWithCustomerLiabilityRevenueRecognized
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration