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Related-Party Transactions (Details) - USD ($)
$ in Millions
1 Months Ended 12 Months Ended
Sep. 30, 2021
Mar. 31, 2020
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Related Party Transaction [Line Items]          
Repurchase of convertible preferred stock (in shares)       547,000  
Common Stock          
Related Party Transaction [Line Items]          
Repurchase of common stock (in shares)       2,032,000  
Series A Convertible Preferred Stock          
Related Party Transaction [Line Items]          
Repurchase of convertible preferred stock (in shares)   546,806      
Affiliated Entity | Sublease with Sonoma          
Related Party Transaction [Line Items]          
Amount of related party transaction $ 4.6        
Due to related parties, current     $ 0.5    
Due to related parties, noncurrent     4.0    
Revenue recognized from related parties     1.8    
Affiliated Entity | Stock Repurchase from Related Party          
Related Party Transaction [Line Items]          
Repurchase of common stock (in shares)   2,032,166      
Affiliated Entity | Stock Repurchase from Related Party | Common Stock          
Related Party Transaction [Line Items]          
Repurchase of common stock (in shares)   2,032,166      
Affiliated Entity | Stock Repurchase from Related Party | Series A Convertible Preferred Stock          
Related Party Transaction [Line Items]          
Repurchase of convertible preferred stock (in shares)   546,806      
Investor | GSK Agreement          
Related Party Transaction [Line Items]          
Due to related parties, current     5.0 $ 6.1  
Due to related parties, noncurrent     79.7 89.1  
Revenue recognized from related parties     $ 10.5 $ 7.8 $ 0.7
Investor | GSK Agreement | Lyell Immunopharma | Minimum | GSK          
Related Party Transaction [Line Items]          
Ownership interest (as a percent)     10.00%