Collaborative and Other Relationships - Summary of Activity Related To Denali Therapeutics (Details) - Research and development - Denali Therapeutics - USD ($) $ in Millions	3 Months Ended
Mar. 31, 2023	Mar. 31, 2022
Collaborative arrangements and non-collaborative arrangement transactions
Expense incurred by the collaboration	$ 16.6	$ 14.9
Expense reflected within statements of income	$ 10.0	$ 8.9

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