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Collaboration Agreements - Takeda (Details)	3 Months Ended			9 Months Ended			45 Months Ended
	Sep. 30, 2021 USD ($)		Sep. 30, 2020 USD ($)	Sep. 30, 2021 USD ($)		Sep. 30, 2020 USD ($)	Sep. 30, 2021 USD ($)	Dec. 31, 2020 USD ($)	Jan. 31, 2018 program
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Collaboration revenue from customers	$ 5,285,000	[1]	$ 9,388,000	$ 36,143,000	[1]	$ 18,751,000
Collaborative Arrangement | Takeda Pharmaceutical Company Limited
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Transaction price, change	0			0
Contract liability	29,200,000			29,200,000			$ 29,200,000	$ 39,800,000
Number of performance obligations | program									3
Preclinical milestone payment earned not yet received	$ 0			$ 0			0
Collaborative Arrangement | Takeda Pharmaceutical Company Limited | Milestone Triggered
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Collaboration revenue from customers							31,000,000
Collaborative Arrangement | Takeda Pharmaceutical Company Limited | Product
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Collaboration revenue from customers							$ 0
Collaborative Arrangement, PTV:PGRN | Takeda Pharmaceutical Company Limited
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]
Preclinical milestone payment earned not yet received								$ 8,000,000
[1] Includes related party collaboration revenue from a customer of $0.9 million and $2.5 million for the three and nine months ended September 30, 2021, respectively.

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