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Collaboration and Licensing Agreements - Astra Zeneca Revenue Recognized (Details) - USD ($)
$ in Thousands
 12 Months Ended
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