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Collaboration Agreements, In-Licensing Arrangements And Business Development Activities - Takeda Collaboration Narrative (Details) $ in Millions | 3 Months Ended | 9 Months Ended
--- | --- | ---
Oct. 01, 2021 USD ($) | Oct. 01, 2021 USD ($)
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |
Remaining performance obligation | $ 86.5 | $ 86.5
Collaborative Arrangement with Takeda |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |
Amount of revenues recognized included in the beginning contract liability balance | 18.8 | 18.8
Revenue from contract with customer, regulatory milestone probable of achievement |  | 20.0
Remaining performance obligation | $ 41.7 | $ 41.7

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