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Collaboration and Other Agreements - I-Mab Biopharma (Details) - USD ($)
$ in Thousands
 1 Months Ended 12 Months Ended
Jul. 31, 2019
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Collaboration and Other Agreements [Line Items]        
Revenues   $ 77,447 $ 104,883 $ 64,188
I-Mab Biopharma Collaboration And License Agreement | I-Mab        
Collaboration and Other Agreements [Line Items]        
Non-refundable upfront payment $ 15,000      
Potential development and regulatory milestone payments   135,000    
Amounts recognized   5,000    
Estimated variable consideration   1,000    
One Time Millstone Credit   4,500    
Revenues   11,500 2,200  
Deferred revenue   4,500 11,400  
Deferred revenue, current     4,500  
Deferred revenue, noncurrent     $ 6,900  
I-Mab Biopharma Collaboration And License Agreement | I-Mab | Maximum        
Collaboration and Other Agreements [Line Items]        
Potential proceeds from royalties percent 20.00%      
I-Mab Biopharma Collaboration And License Agreement Clinical Supply | I-Mab        
Collaboration and Other Agreements [Line Items]        
Revenues   $ 1,300