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Licensing and Other Arrangements - Janssen Biotech (Details) - USD ($) $ in Thousands | 1 Months Ended | 3 Months Ended | 9 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | ---
May 31, 2021 | Aug. 31, 2019 | Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2019 | Dec. 31, 2020
Licensing and other arrangements |  |  |  |  |  |  |  |
Revenue from contracts with customers |  |  | $ 550 | $ 200 | $ 1,094 | $ 753 |  |
Janssen Biotech Inc. | License Agreement [Member] |  |  |  |  |  |  |  |
Licensing and other arrangements |  |  |  |  |  |  |  |
Cash payment received |  | $ 2,500 |  |  |  |  |  |
Maximum amount receivable milestone payments upon achievement of certain clinical development and regulatory approval events |  | $ 3,000 |  |  |  |  |  |
Percentage of royalty on worldwide net sales of each product upon commercialization |  | 0.75% |  |  |  |  |  |
Revenue from contracts with customers | $ 500 |  | 0 | $ 200 | 500 | $ 200 | $ 2,500 |
Contract assets |  |  | 0 |  | 0 |  |  | $ 0
Contract liabilities |  |  | 0 |  | 0 |  |  | 0
Capitalized contract costs |  |  | $ 0 |  | $ 0 |  |  | $ 0

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