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Summary of Significant Accounting Policies - Segments (Details) - item
3 Months Ended 9 Months Ended
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Segment Information        
Number of operating segments     1  
Other customers        
Segment Information        
Percentages of revenue recognized 0.00% 0.00% 0.00% 0.00%
CytomX        
Segment Information        
Percentages of revenue recognized   14.00%   7.00%
Roche        
Segment Information        
Percentages of revenue recognized 99.00% 77.00% 99.00% 57.00%
Takeda        
Segment Information        
Percentages of revenue recognized   2.00%   29.00%