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License Agreement - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions				1 Months Ended				12 Months Ended
	Mar. 23, 2020	Apr. 25, 2017	Jul. 07, 2014	Mar. 31, 2020	Apr. 30, 2019	Jan. 31, 2018	Apr. 30, 2016	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2019
License Agreement [Line Items]
Annual minimum royalty obligations								$ 0.2
License termination period								60 days
Common stock, shares issued								66,228,046	65,392,758
Bristol Myers Squibb | Collaborative Arrangement
License Agreement [Line Items]
Upfront payment received		$ 200.0	$ 50.0					$ 297.0
Milestone payment received				$ 10.0		$ 12.0
Astellas Pharma Inc. | Collaboration and License Agreement
License Agreement [Line Items]
Upfront payment received	$ 80.0
AbbVie Ireland Unlimited Company | Discovery Agreement
License Agreement [Line Items]
Upfront payment received							$ 10.0
AbbVie Ireland Unlimited Company | CD71 Agreement
License Agreement [Line Items]
Upfront payment received							$ 20.0	100.0
Immuno Gen Inc | Collaborative Arrangement
License Agreement [Line Items]
Upfront payment received										$ 7.5
UCSB
License Agreement [Line Items]
Common stock, shares issued					150,000
Fair value of common stock price per share					$ 10.68
Payment of upfront fees					$ 1.0
Annual license maintenance fees					$ 0.8
License payment term					2031
Percentage of remaining maintenance fees outstanding					50.00%
Sublicense fees								1.0	$ 1.0
Amgen | Collaboration and License Agreement
License Agreement [Line Items]
Sublicense fees								$ 0.1

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Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
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-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section S99
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