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Collaboration and Other Agreements - Janssen (Details) - USD ($) $ in Thousands	1 Months Ended	3 Months Ended		9 Months Ended
	Dec. 31, 2020	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Collaboration And Other Agreements [Line Items]
Revenues		$ 15,662	$ 18,253	$ 63,300	$ 52,192
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
Potential proceeds from royalties (percent)	10.00%
Collaborative agreement transaction price	$ 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
Janssen Biotech Inc | Janssen Collaboration and License Agreement | Revenue From Performance of the Research and Development Activities
Collaboration And Other Agreements [Line Items]
Revenues		$ 200		$ 1,100

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