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Commitments and Contingencies - Additional Information (Details) |  |  |  | 1 Months Ended | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | --- | --- | --- | --- | ---
Sep. 30, 2019 USD ($) Facility Subtenant | Apr. 14, 2018 USD ($) Facility | Nov. 21, 2017 USD ($) Facility | Sep. 30, 2019 USD ($) Facility Subtenant | Jan. 31, 2019 USD ($) Facility | Oct. 31, 2018 USD ($) Facility | Sep. 30, 2019 USD ($) Facility Subtenant | Sep. 30, 2018 USD ($) | Jun. 30, 2018 USD ($) | Sep. 30, 2019 USD ($) Facility Subtenant | Sep. 30, 2018 USD ($) | Jan. 01, 2019 Lease | Dec. 31, 2016 Facility
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Estimate of milestone payments | $ 7,600,000 |  |  | $ 7,600,000 |  |  | $ 7,600,000 |  |  | $ 7,600,000 |  |  |
Payments of contingent consideration |  |  |  |  |  |  | 0 |  |  |  |  |  |
Operating leases, number of leased facilities | Facility |  | 3 | 3 |  | 3 | 3 |  |  |  |  |  |  |
Number of operating leases right of use assets and lease liability recognized | Lease |  |  |  |  |  |  |  |  |  |  |  | 3 |
Rent expense recognized for operating leases |  |  |  |  |  |  | 600,000 |  |  | 1,800,000 |  |  |
Variable lease payments |  |  |  |  |  |  | 400,000 |  |  | 1,300,000 |  |  |
Operating leases, number of portions of leased facilities | Facility |  | 1 | 1 |  | 1 | 1 |  |  |  |  |  |  |
Operating leases, sublease commencement date |  | May 01, 2018 | Dec. 26, 2017 |  | Jan. 18, 2019 | Oct. 24, 2018 |  |  |  |  |  |  |
Operating leases sublease income plus reimbursement of operating expenses receivable |  | $ 1,100,000 | $ 5,100,000 |  |  |  |  |  |  |  |  |  |
Operating leases sublease expiry date |  | 2023-04 | 2023-04 |  | 2023-04 | 2021-05 |  |  |  |  |  |  |
Sublease tenant improvement allowance |  | $ 65,000 | $ 800,000 |  | $ 91,000 |  |  |  |  |  |  |  |
Operating leases sublease income receivable |  |  |  |  | 1,700,000 | $ 1,700,000 |  |  |  |  |  |  |
Sublease Agreement Commenced on December 26, 2017 [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Sublease loss |  |  | 800,000 |  |  |  |  |  |  |  |  |  |
Sublease income |  |  |  |  |  |  | 400,000 | $ 400,000 |  | 1,100,000 | $ 1,100,000 |  |
Sublease Agreement Commenced on December 26, 2017 [Member] | Standby Letter of Credit [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Letter of credit amount |  |  | $ 1,000,000 |  |  |  |  |  |  |  |  |  |
Funds drawn from letter of credit | $ 0 |  |  |  |  |  |  |  |  |  |  |  |
Sublease Agreement Commenced on May 1,2018 [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Sublease income |  |  |  |  |  |  | 100,000 | $ 100,000 |  | 300,000 | $ 200,000 |  |
Sublease broker commissions |  | $ 89,000 |  |  |  |  |  |  |  |  |  |  |
Sublease Agreement Commenced on May 1,2018 [Member] | Restructuring Charges [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Sublease loss |  |  |  |  |  |  |  |  | $ 600,000 |  |  |  |
Sublease Agreement Commenced on October 24,2018 [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Sublease income |  |  |  |  |  |  | 200,000 |  |  | 500,000 |  |  |
Sublease broker commissions |  |  |  |  |  | $ 100,000 |  |  |  |  |  |  |
Sublease Agreement Commenced on January 18, 2019 [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Sublease income |  |  |  |  |  |  | $ 200,000 |  |  | $ 400,000 |  |  |
Sublease broker commissions |  |  |  |  | $ 53,000 |  |  |  |  |  |  |  |
Berkeley, California [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Operating leases, number of leased facilities | Facility | 2 |  |  | 2 |  |  | 2 |  |  | 2 |  |  | 2
Operating leases, number of subtenants | Subtenant | 4 |  |  | 4 |  |  | 4 |  |  | 4 |  |  |
Emeryville, California [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Operating leases, number of leased facilities | Facility | 1 |  |  | 1 |  |  | 1 |  |  | 1 |  |  |
Operating leases, description |  |  |  |  |  |  |  |  |  | The Emeryville lease contains both an option to early terminate the lease and an option to extend the lease for an additional term, however, the Company is not reasonably assured to exercise either option. |  |  |
Operating leases, option to extend, description |  |  |  |  |  |  |  |  |  | option to extend the lease |  |  |
Operating leases, option to extend |  |  |  |  |  |  |  |  |  | true |  |  |
Operating leases, option to terminate, description |  |  |  |  |  |  |  |  |  | option to early terminate the lease |  |  |
Operating leases, option to terminate |  |  |  |  |  |  |  |  |  | true |  |  |
Operating leases, expiry date |  |  |  |  |  |  |  |  |  | 2023-02 |  |  |
Maximum [Member] | Berkeley, California [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Operating leases, remaining lease term |  |  |  |  |  |  |  |  |  | 4 years |  |  |
Minimum [Member] | Berkeley, California [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Operating leases, remaining lease term |  |  |  |  |  |  |  |  |  | 2 years |  |  |
Royalty Purchase Agreement [Member] | Aronora [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Contingent consideration liability per product | $ 100,000 |  |  | $ 100,000 |  |  | $ 100,000 |  |  | $ 100,000 |  |  |
Estimated fair value of contingent consideration | 3,000,000 |  |  | 3,000,000 |  |  | 3,000,000 |  |  | 3,000,000 |  |  |
Payments of contingent consideration |  |  |  | 3,000,000 |  |  |  |  |  |  |  |  |
Royalty Purchase Agreement [Member] | Bioasis Technologies Inc [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Estimated fair value of contingent consideration | 100,000 |  |  | 100,000 |  |  | 100,000 |  |  | 100,000 |  |  |
Royalty Purchase Agreement [Member] | Bioasis Technologies Inc [Member] | Maximum [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Contingent consideration liability | 3,000,000 |  |  | 3,000,000 |  |  | 3,000,000 |  |  | 3,000,000 |  |  |
Royalty Purchase Agreement [Member] | Bioasis Technologies Inc [Member] | Contingent Consideration [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Commitments And Contingencies [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Estimated fair value of contingent consideration | $ 100,000 |  |  | $ 100,000 |  |  | $ 100,000 |  |  | $ 100,000 |  |  |

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