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Collaboration Agreement - Additional Information (Details) - License and Collaboration Agreement - Astellas Pharma LLC - USD ($) $ in Thousands | 1 Months Ended | 3 Months Ended | 9 Months Ended
--- | --- | --- | ---
Jul. 31, 2019 | Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items] |  |  |  |  |
Payments received under collaboration agreement | $ 80,000 |  |  |  |
Joint cost |  | $ 0 | $ 36 | $ 81 | $ 337
Maximum |  |  |  |  |
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items] |  |  |  |  |
Revenue recognized potential development milestone payments to receive | 230,000 |  |  |  |
Revenue recognized commercialization milestone payments to receive | $ 315,000 |  |  |  |

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