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Collaboration and Other Agreements - Janssen (Details) - USD ($)
$ in Thousands
 1 Months Ended 12 Months Ended
Dec. 31, 2020
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Collaboration and Other Agreements [Line Items]        
Revenues   $ 104,883 $ 64,188 $ 60,121
Janssen Biotech Inc. | Janssen Collaboration And License Agreement        
Collaboration and Other Agreements [Line Items]        
Non-refundable upfront payment $ 20,000      
Potential milestone payments and royalties on product sales $ 312,000 312,000    
Potential proceeds from royalties percent 10.00%      
Transaction price $ 22,200 $ 22,200    
Clinical trial activities selling price amount 2,200      
Janssen Biotech Inc. | Janssen Collaboration And License Agreement | Revenues From License Agreements        
Collaboration and Other Agreements [Line Items]        
Revenues $ 20,000