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Revenue - I-Mab Biopharma (Details) - USD ($)
$ in Thousands
 1 Months Ended 3 Months Ended 12 Months Ended
Jul. 31, 2019
Mar. 31, 2022
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Collaboration and Other Agreements [Line Items]          
Revenues     $ 151,941 $ 77,447 $ 104,883
I-Mab Biopharma Collaboration And License Agreement | I-Mab Biopharma          
Collaboration and Other Agreements [Line Items]          
Non-refundable upfront payment $ 15,000        
Amounts recognized   $ 5,000 5,000    
Estimated variable consideration     $ 1,000    
Collaboration Arrangement, One-time Credit Paid, Percent     80.00%    
One Time Millstone Credit       4,500  
Revenues     $ 4,500 11,500 $ 2,200
Deferred revenue       4,500  
I-Mab Biopharma Collaboration And License Agreement Clinical Supply | I-Mab Biopharma          
Collaboration and Other Agreements [Line Items]          
Revenues     $ 600 $ 1,300