Lease Agreements - Sublease Agreements (Details) - Leased facilities, Berkeley, California - USD ($) $ in Millions	3 Months Ended	9 Months Ended	12 Months Ended
Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019	Dec. 31, 2019
Leases
Lease termination loss					$ 0.4
Sublease income	$ 0.0	$ 0.8	$ 0.0	$ 2.4

Amount of gain (loss) on termination of lease before expiration of lease term.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
-SubTopic 20
-Section 40
-Paragraph 1
-URI http://asc.fasb.org/extlink&oid=121604053&loc=SL77918607-209975

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+ References

No definition available.

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- Definition

Amount of sublease income excluding finance and operating lease expense.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
-SubTopic 20
-Section 50
-Paragraph 4
-Subparagraph (e)
-URI http://asc.fasb.org/extlink&oid=121609121&loc=SL77918686-209980

Reference 2: http://www.xbrl.org/2003/role/exampleRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
-SubTopic 20
-Section 55
-Paragraph 53
-URI http://asc.fasb.org/extlink&oid=121568110&loc=SL77918982-209971

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