Lease Agreements - Leased facilities (Details) - Leased facilities, Emeryville, California	9 Months Ended
Sep. 30, 2022 facility
Leases
Operating leases, number of leased facilities	1
Option to extend lease	true

Description of terms and conditions of option to extend lessee's operating lease. Includes, but is not limited to, information about option recognized as part of right-of-use asset and lease liability.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
-SubTopic 20
-Section 50
-Paragraph 3
-Subparagraph (a)(3)
-URI https://asc.fasb.org/extlink&oid=128292326&loc=SL77918673-209980

Name:	us-gaap_LesseeOperatingLeaseOptionToExtend
Namespace Prefix:	us-gaap_
Data Type:	xbrli:stringItemType
Balance Type:	na
Period Type:	duration