License and Collaboration Agreements - Summary of Revenue Recognized as a Result of Changes in Deferred Revenue (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
License And Collaboration Agreements [Abstract]
Amounts included in deferred revenue at the beginning of the period	$ 7,000	$ 7,000	$ 5,353

Amount of revenue recognized that was previously reported as deferred or unearned revenue.

No definition available.

Name:	us-gaap_DeferredRevenueRevenueRecognized1
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration