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Collaboration and License Agreements - Amgen, Inc - Additional Information (Details) $ / shares in Units, $ in Thousands |  | 1 Months Ended | 3 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | ---
Sep. 29, 2017 USD ($) Target | Oct. 31, 2017 USD ($) $ / shares shares | Jun. 30, 2020 | Jun. 30, 2019 | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($) | Dec. 31, 2020 USD ($)
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items] |  |  |  |  |  |  |
Common stock, value of shares issued in connection with agreement |  |  |  |  | $ 0 | $ 107,712 |
Deferred revenue |  |  |  |  | 301,326 | 284,760 | $ 318,707
Amgen Inc | EGFR Products |  |  |  |  |  |  |
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items] |  |  |  |  |  |  |
Deferred revenue |  |  |  |  | 18,000 |  |
Amgen Inc | Amgen Other Products |  |  |  |  |  |  |
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items] |  |  |  |  |  |  |
Deferred revenue |  |  |  |  | 600 |  |
Collaboration and License Agreement | Amgen Inc |  |  |  |  |  |  |
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items] |  |  |  |  |  |  |
Upfront payment received | $ 40,000 | $ 40,000 |  |  |  |  |
Common stock, shares issuable under agreement | shares |  | 1,156,069 |  |  |  |  |
Common stock, shares issuable under agreement, price per share | $ / shares |  | $ 17.30 |  |  |  |  |
Common stock, value of shares issued in connection with agreement |  | $ 20,000 |  |  |  |  |
Number of targets selected | Target | 1 |  |  |  |  |  |
Number of additional collaboration target | Target | 2 |  |  |  |  |  |
Total transaction price | $ 51,200 |  |  |  |  |  |
Portion of transaction price allocated to premium on sale of common stock | 500 |  |  |  |  |  |
Estimated fair value of products | 10,700 |  |  |  |  |  |
Collaboration and License Agreement | Amgen Inc | Maximum |  |  |  |  |  |  |
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items] |  |  |  |  |  |  |
Contingent payments payable | 203,000 |  |  |  |  |  |
Collaboration and License Agreement | Amgen Inc | EGFR Products |  |  |  |  |  |  |
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items] |  |  |  |  |  |  |
Total transaction price | 46,400 |  |  |  |  |  |
Estimated research service period |  |  | 7 years | 8 years |  |  |
Deferred revenue |  |  |  |  | 18,000 | 21,800 |
Collaboration and License Agreement | Amgen Inc | EGFR Products | Maximum |  |  |  |  |  |  |
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items] |  |  |  |  |  |  |
Contingent milestone payments receivable | $ 460,000 |  |  |  |  |  |
Percentage share of profit and losses | 50.00% |  |  |  |  |  |
Collaboration and License Agreement | Amgen Inc | Amgen Products | Maximum |  |  |  |  |  |  |
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items] |  |  |  |  |  |  |
Contingent milestone payments receivable | $ 950,000 |  |  |  |  |  |
Number of targets | Target | 3 |  |  |  |  |  |
Collaboration and License Agreement | Amgen Inc | Amgen Other Products |  |  |  |  |  |  |
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items] |  |  |  |  |  |  |
Total transaction price | $ 4,800 |  |  |  |  |  |
Estimated research service period | 6 years |  |  |  |  |  |
Revenue recognition upon performance obligation | $ 4,800 |  |  |  |  |  |
Deferred revenue |  |  |  |  | $ 600 | $ 1,800 |
Sublicense Agreement | Amgen Inc | Maximum | UC Regents |  |  |  |  |  |  |
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items] |  |  |  |  |  |  |
Sublicense payment percentage | 7.50% |  |  |  |  |  |

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