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Collaboration and Other Agreements, Takeda (Details) - USD ($)
1 Months Ended 12 Months Ended
May 31, 2014
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Collaboration and Other Agreements [Line Items]        
Deferred revenue included in current liabilities   $ 4,261,000 $ 5,866,000  
Takeda Pharmaceutical Company Limited (Takeda) | Takeda MGD010 Agreement        
Collaboration and Other Agreements [Line Items]        
Nonrefundable upfront payment $ 15,000,000      
Amount allocated to agreement $ 10,000,000      
Deferred revenue included in current liabilities     2,100,000  
Expected period of development 24 months      
Recognized revenue under agreement   2,100,000 8,000,000 $ 3,000,000
Milestone received     3,000,000  
Deferred revenue   $ 0 2,100,000  
Takeda Pharmaceutical Company Limited (Takeda) | Research Collaboration and License Option Agreement        
Collaboration and Other Agreements [Line Items]        
Amount allocated to agreement $ 5,000,000      
Recognized revenue under agreement     $ 1,300,000 $ 5,000,000