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License Agreements - Additional Information (Details) - USD ($) $ in Thousands | 1 Months Ended | 12 Months Ended
--- | --- | ---
Jun. 30, 2018 | Sep. 30, 2016 | Mar. 31, 2016 | Dec. 31, 2022 | Dec. 31, 2021
Research and development |  |  |  | $ 37,013 | $ 40,177
Stanford License Agreements [Member] | Stanford [Member] |  |  |  |  |
Payments for milestone agreement or earned royalties on achievement of milestones |  |  | $ 5,000 |  |
Payments for achievement of specified development and regulatory milestones | $ 400 |  |  |  |
Research and development |  |  |  | 200 | 100
Payments for milestone agreement on achievement of milestones |  |  |  | 0 |
U C S F License And Option Agreements [Member] | Stanford [Member] |  |  |  |  |
Research and development |  |  |  | 100 | 50,000
Payments for milestone agreement on achievement of milestones |  |  |  | 0 |
Distributed Bio Subscription Agreement [Member] |  |  |  |  |
Payments for achievement of specified development and regulatory milestones |  | $ 5,900 |  |  |
Distributed Bio Subscription Agreement [Member] | Stanford [Member] |  |  |  |  |
Research and development |  |  |  | 200 | 300
Payments for milestone agreement on achievement of milestones |  |  |  | $ 100 | $ 50,000
Maximum [Member] | Stanford License Agreements [Member] | Stanford [Member] |  |  |  |  |
Payments for milestone agreement or earned royalties on achievement of milestones |  |  | $ 900 |  |

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- Definition Payments for achievement of specified development and regulatory milestones. + References No definition available. + Details
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- Definition Payments for milestone agreement on achievement of milestones. + References No definition available. + Details
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- Definition The aggregate costs incurred (1) in a planned search or critical investigation aimed at discovery of new knowledge with the hope that such knowledge will be useful in developing a new product or service, a new process or technique, or in bringing about a significant improvement to an existing product or process; or (2) to translate research findings or other knowledge into a plan or design for a new product or process or for a significant improvement to an existing product or process whether intended for sale or the entity's use, during the reporting period charged to research and development projects, including the costs of developing computer software up to the point in time of achieving technological feasibility, and costs allocated in accounting for a business combination to in-process projects deemed to have no alternative future use. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 912 -SubTopic 730 -Section 25 -Paragraph 1 -URI https://asc.fasb.org/extlink&oid=6472174&loc=d3e58812-109433 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 985 -SubTopic 20 -Section 50 -Paragraph 1 -URI https://asc.fasb.org/extlink&oid=6501960&loc=d3e128462-111756 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 730 -SubTopic 10 -Section 50 -Paragraph 1 -URI https://asc.fasb.org/extlink&oid=6420194&loc=d3e21568-108373 + Details
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