Collaboration and License Agreements - Schedule of Other Financial Information Related to Collaboration and License Agreements (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Organization Consolidation And Presentation Of Financial Statements [Abstract]
Transaction price recognized as collaboration revenue	$ 34,363	$ 17,570	$ 11,948
Revenue recognized from performance obligations fully or partially satisfied in previous periods	$ 1,654	$ 348

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=123351226&loc=SL49130549-203045

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