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Collaboration and Other Agreements - Roche (Details)
 1 Months Ended 12 Months Ended
Jan. 31, 2018
USD ($)
Dec. 31, 2017
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
performanceObligation
Collaboration and Other Agreements [Line Items]          
Revenues     $ 104,883,000 $ 64,188,000 $ 60,121,000
Deferred revenue, current     4,456,000 10,700,000  
Deferred revenue included in long-term liabilities     6,926,000 9,153,000  
Roche          
Collaboration and Other Agreements [Line Items]          
Non-refundable upfront payment $ 10,000,000.0        
Potential milestone payments and royalties on future sales     370,000,000.0    
Number of performance obligations | performanceObligation         1
Transaction price         $ 10,000,000.0
Expected period of development   30 months      
Revenues     6,000,000.0 $ 4,000,000.0  
Deferred revenue     $ 0