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Collaboration and Licensing Agreements - Astra Zeneca Revenue Recognized (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |
Cost of revenue, recognized | $ 1,000 | $ 145 | $ 600 |  |
AstraZeneca |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |
Cost of revenue, recognized | 1,000 | 145 | 600 | $ 466 | $ 9,400
Cost of revenue, amount paid | 1,003 | $ 742 | $ 1,002 | $ 2,864 | 6,000
Cost of revenue, aggregate amount recognized | 11,611 |  |  |  |
Cost of revenue, aggregate amount paid | 11,611 |  |  |  |
Maximum payment per termination agreement | 75,000 |  |  |  |
Remaining potential commitment | $ 63,389 |  |  |  |
Cost of revenue, adjustment |  |  |  |  | $ 1,000

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