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Collaboration and Other Agreements - I-Mab Biopharma (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2019
Dec. 31, 2020
Collaboration And Other Agreements [Line Items]            
Revenues $ 15,662 $ 18,253 $ 63,300 $ 52,192    
Deferred revenue, current 16,314   16,314     $ 4,456
Deferred revenue, net of current portion 9,575   9,575     6,926
I-Mab | I-Mab Biopharma Collaboration and License Agreement            
Collaboration And Other Agreements [Line Items]            
Non-refundable upfront payment         $ 15,000  
Potential development and regulatory milestone payments under agreement         135,000  
Development and regulatory milestones recognized 5,000   5,000      
Revenues, net of tax withholding 4,500          
Estimated variable consideration         $ 1,000  
Revenues 1,000 $ 1,000 3,300 $ 3,500    
Deferred revenue 8,100   8,100     11,400
Deferred revenue, current 2,700   2,700     4,500
Deferred revenue, net of current portion $ 5,300   $ 5,300     $ 6,900
I-Mab | I-Mab Biopharma Collaboration and License Agreement | Maximum            
Collaboration And Other Agreements [Line Items]            
Potential proceeds from royalties (percent)         20.00%