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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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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 808
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
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-Name Accounting Standards Codification
-Section 50
-Paragraph 13
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-SubTopic 10
-Topic 606
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