Liability Related to Sale of Future Royalties, net - Reduction to Research and Development Expenses (Details) - USD ($) $ in Thousands	3 Months Ended	6 Months Ended
Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
2020 RPI Funding Agreement
Liability For Sale of Future Royalties [Line Items]
Reduction to research and development expenses	$ 5,383	$ 10,016	$ 12,326	$ 10,205

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