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Collaboration and Other Agreements - Servier (Details) - USD ($)
$ in Thousands
 1 Months Ended 12 Months Ended
Sep. 30, 2012
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Collaboration and Other Agreements [Line Items]          
Revenues   $ 104,883 $ 64,188 $ 60,121  
Servier | Servier DART          
Collaboration and Other Agreements [Line Items]          
Non-refundable upfront payment $ 20,000        
Milestone payment removed $ 5,000        
Deferred revenue     1,000    
Option exercise fee         $ 15,000
Offset to research and development costs under collaboration arrangement     3,600 6,000  
Revenues From License Agreements | Servier | Servier DART          
Collaboration and Other Agreements [Line Items]          
Revenues   1,000 $ 11,600 1,200  
Revenues From License Agreements | Servier | Servier Agreement - MGD007 Option          
Collaboration and Other Agreements [Line Items]          
Revenues   $ 0   $ 1,900