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Research Collaboration and License Agreement (Details)
12 Months Ended
Dec. 31, 2020
USD ($)
item
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Research Collaboration and License Agreement      
Research and Development Expense $ 74,506,000 $ 65,003,000 $ 59,497,000
Research Collaboration and License Agreement      
Research Collaboration and License Agreement      
Number of development milestone payments | item 3    
Aggregate development milestone payment $ 1,000,000.0    
Research and Development Expense 0 $ 0 $ 500,000
Research Collaboration and License Agreement | Phase 2b | Minimum | Entity Required to Continue to Make Payments      
Research Collaboration and License Agreement      
Additional payment obligation to the former collaboration partner 1,000,000.0    
Research Collaboration and License Agreement | Phase 2b | Maximum | Entity Required to Continue to Make Payments      
Research Collaboration and License Agreement      
Additional payment obligation to the former collaboration partner 3,000,000.0    
Research Collaboration and License Agreement | Phase 3 | Minimum | Entity Required to Continue to Make Payments      
Research Collaboration and License Agreement      
Additional payment obligation to the former collaboration partner 1,500,000    
Research Collaboration and License Agreement | Phase 3 | Maximum | Entity Required to Continue to Make Payments      
Research Collaboration and License Agreement      
Additional payment obligation to the former collaboration partner $ 4,500,000