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Collaboration Agreements And Business Development Activities - Takeda Collaboration Narrative (Details) $ in Millions | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 29, 2023 USD ($) | Sep. 29, 2023 USD ($)
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |
Remaining performance obligation | $ 63.8 | $ 63.8
Collaborative Arrangement with Takeda |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |
Revenue from contract with customer, commercial sales milestone | 0.1 | 9.9
Revenue from contract with customer, commercial milestone |  | 11.0
Remaining performance obligation | $ 31.6 | 31.6
Collaborative Arrangement with Takeda | Japan |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |
Cumulative net sales milestone |  | $ 150.0

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