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Collaborative Research and Development Agreements - Schedule of Milestone Achieved (Details) - USD ($) $ in Thousands | 3 Months Ended | 12 Months Ended
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Dec. 31, 2022 | Sep. 30, 2021 | Jun. 30, 2021 | Mar. 31, 2021 | Mar. 31, 2020 | Jun. 30, 2019 | Sep. 30, 2018 | Dec. 31, 2017 | Jun. 30, 2017 | Jun. 30, 2016 | Mar. 31, 2016 | Dec. 31, 2015 | Jun. 30, 2015 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 17,157 | $ 10,287 | $ 63,175
Milestone revenue recognition |  |  |  |  |  |  |  |  |  |  |  |  |  | Cash is generally received within 30 days of milestone achievement. |  |
GSK |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 17,200 | 10,300 | $ 63,200
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | Initiated in vivo toxicology studies using good laboratory practices (GLPs) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue |  |  |  |  |  |  |  |  |  |  |  |  | $ 1,000 |  |  |
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | IND clearance from the FDA |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue |  |  |  |  |  |  |  |  |  |  | $ 4,000 |  |  |  |  |
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | Phase 2 clinical trial initiation |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue |  |  |  |  |  |  |  |  | $ 3,000 |  |  |  |  |  |  |
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | Phase 3 clinical trial initiation - first indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue |  |  |  |  |  |  | $ 5,000 |  |  |  |  |  |  |  |  |
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | Phase 3 clinical trial initiation - second indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue |  |  |  |  |  | $ 5,000 |  |  |  |  |  |  |  |  |  |
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | Filing of the first BLA - first indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue |  |  |  |  | $ 10,000 |  |  |  |  |  |  |  |  |  |  |
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | Filing of the first MAA - first indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue |  |  |  |  | $ 5,000 |  |  |  |  |  |  |  |  |  |  |
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | Filing of the first BLA - second indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue |  |  |  | $ 10,000 |  |  |  |  |  |  |  |  |  |  |  |
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | First BLA approval - first indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue |  |  | $ 20,000 |  |  |  |  |  |  |  |  |  |  |  |  |
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | First MAA approval - first indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue |  |  | $ 10,000 |  |  |  |  |  |  |  |  |  |  |  |  |
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | First BLA approval - second indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue |  | $ 20,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | Filing of the first MAA - second indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 5,000 |  |
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | First MAA approval - second indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 10,000 |  |
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | First commercial sales milestone |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 15,000 |  |
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | Second commercial sales milestone |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 25,000 |  |
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | Third commercial sales milestone |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 50,000 |  |
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | Fourth commercial sales milestone |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 75,000 |  |
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | Milestones recognized through December 31, 2023 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue |  |  |  |  |  |  |  |  |  |  |  |  |  | 93,000 |  |
GSK | Anti-PD-1 (Jemperli/Dostarlimab) | Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 180,000 |  |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | Initiated in vivo toxicology studies using good laboratory practices (GLPs) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue |  |  |  |  |  |  |  |  |  |  |  | $ 1,000 |  |  |  |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | IND clearance from the FDA |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue |  |  |  |  |  |  |  |  |  | $ 4,000 |  |  |  |  |  |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | Phase 2 clinical trial initiation |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue |  |  |  |  |  |  |  | $ 3,000 |  |  |  |  |  |  |  |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | Phase 3 clinical trial initiation - first indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue | $ 5,000 |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 5,000 |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | Phase 3 clinical trial initiation - second indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 5,000 |  |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | Filing of the first BLA - first indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 10,000 |  |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | Filing of the first MAA - first indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 5,000 |  |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | Filing of the first BLA - second indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 10,000 |  |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | First BLA approval - first indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 20,000 |  |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | First MAA approval - first indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 10,000 |  |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | First BLA approval - second indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 20,000 |  |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | Filing of the first MAA - second indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 5,000 |  |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | First MAA approval - second indication |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 10,000 |  |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | First commercial sales milestone |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 15,000 |  |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | Second commercial sales milestone |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 25,000 |  |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | Third commercial sales milestone |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 50,000 |  |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | Fourth commercial sales milestone |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | 75,000 |  |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | Milestones recognized through December 31, 2023 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaboration revenue |  |  |  |  |  |  |  |  |  |  |  |  |  | 13,000 |  |
GSK | Anti-TIM-3 (GSK4069889A/Cobolimab) | Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Milestones that may be recognized in the future |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 260,000 |  |

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