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Collaboration, License and Research Agreements - Reconciliation of Deferred Revenue Related to Lilly Agreement (Details) - Research Collaboration and License Agreement with Eli Lilly - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items] |  |
Balance | $ 15,840 | $ 18,940
Revenue recognized | (4,732) | (3,100)
Balance | $ 11,108 | $ 15,840

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