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Collaborative Arrangements - License Agreement (Details) - USD ($) $ in Thousands | 1 Months Ended | 3 Months Ended | 12 Months Ended |
--- | --- | --- | --- | ---
Dec. 31, 2019 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Oct. 31, 2020
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items] |  |  |  |  |  |  |
Contract liabilities: deferred revenue |  | $ 10,761 | $ 30,609 | $ 10,761 | $ 30,609 |  |
Performance obligations satisfied |  | $ 17,937 | $ 2,038 |  |  |  |
Roche |  |  |  |  |  |  |
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items] |  |  |  |  |  |  |
Performance obligations satisfied |  |  |  | $ 0 | $ 0 | $ 900 |
Roche | Milestone One |  |  |  |  |  |  |
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items] |  |  |  |  |  |  |
Contract liabilities: deferred revenue | $ 800 |  |  |  |  |  |
Number of days for payment | 45 days |  |  |  |  |  |
Roche | Milestone Two |  |  |  |  |  |  |
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items] |  |  |  |  |  |  |
Contingent receivable |  |  |  |  |  |  | $ 900

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