License and Collaboration Agreements - License, Collaboration and Other Revenue (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
License And Collaboration Agreements [Line Items]
License, collaboration and other revenue	$ 1,913	$ 436	$ 55,849
Bristol-Myers Squibb | Bempegaldesleukin
License And Collaboration Agreements [Line Items]
License, collaboration and other revenue	0	0	50,000
Other
License And Collaboration Agreements [Line Items]
License, collaboration and other revenue	$ 1,913	$ 436	$ 5,849