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Collaboration and License Agreements and Supply Agreements - Summary of Recognized Revenue (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | $ 16,924 | $ 25,147 | $ 40,010 | $ 59,140
Collaboration and License Agreements and Supply Agreements |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | 16,924 | 25,147 | 40,010 | 59,140
Collaboration and License Agreements and Supply Agreements | Bristol-Myers Squibb Company ("BMS") |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | 189 | 4,343 | 5,591 | 8,774
Collaboration and License Agreements and Supply Agreements | Merck Sharp & Dohme Corporation ("Merck") |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | 83 | 10,157 | 2,776 | 11,367
Collaboration and License Agreements and Supply Agreements | Merck KGaA, Darmstadt, Germany (operating in the United States and Canada under the name ''EMD Serono'') |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue |  | 166 | 8 | 2,200
Collaboration and License Agreements and Supply Agreements | Astellas Pharma Inc. ("Astellas") |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | 9,988 | 4,985 | 23,593 | 4,985
Collaboration and License Agreements and Supply Agreements | Tasly Biopharmaceuticals Co., Ltd. ("Tasly") |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | 5,072 |  | 5,072 | 25,000
Collaboration and License Agreements and Supply Agreements | Vaxcyte |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | 1,592 | 1,496 | 2,970 | 2,814
Collaboration and License Agreements and Supply Agreements | BioNova Pharmaceuticals, Ltd. ("BioNova") |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue |  | 4,000 |  | 4,000
BMS Agreement and the 2018 BMS Master Services Agreement |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Revenues | 189 | 4,343 | 5,591 | 8,774
BMS Agreement and the 2018 BMS Master Services Agreement | Research and Development Services |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Revenues |  | 107 | 413 | 591
BMS Agreement and the 2018 BMS Master Services Agreement | Materials Supply |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Revenues | 189 | 4,236 | 5,178 | 8,183
2020 Merck Master Services Agreement |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | 83 | 10,157 | 2,776 | 11,367
2020 Merck Master Services Agreement | Ongoing Performance Related to Unsatisfied Performance Obligations |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue |  |  |  | 862
2020 Merck Master Services Agreement | Contingent Payment |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue |  | 10,000 |  | 10,000
2020 Merck Master Services Agreement | Research and Development Services |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | 20 | 136 | 224 | 402
2020 Merck Master Services Agreement | Materials Supply |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | 63 | 21 | 2,552 | 103
2019 EMD Serono Supply Agreement |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue |  | 166 | 8 | 2,200
2019 EMD Serono Supply Agreement | Research and Development Services |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue |  | 78 | 6 | 494
2019 EMD Serono Supply Agreement | Materials Supply |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue |  | 88 | 2 | 1,706
Supply Agreement | Vaxcyte |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | 1,592 | 1,496 | 2,970 | 2,814
Supply Agreement | Vaxcyte | Research and Development Services |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | 636 | 651 | 1,707 | 1,794
Supply Agreement | Vaxcyte | Materials Supply |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | 956 | 845 | 1,263 | 1,020
Astellas License and Collaboration Agreement |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | 9,988 | 4,985 | 23,593 | 4,985
Astellas License and Collaboration Agreement | Ongoing Performance Related to Unsatisfied Performance Obligations |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | 5,612 | 1,925 | 11,423 | 1,925
Astellas License and Collaboration Agreement | Research and Development Services |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | 1,920 | 809 | 4,639 | 809
Astellas License and Collaboration Agreement | Financing Component on Unearned Revenue |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | 2,456 | $ 2,251 | 7,531 | 2,251
Tasly License Agreement |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | 5,072 |  | 5,072 | 25,000
Tasly License Agreement | Upfront Payment |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue |  |  |  | $ 25,000
Tasly License Agreement | Contingent Payment |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | 5,000 |  | 5,000 |
Tasly License Agreement | Research and Development Services |  |  |  |
Revenue Recognition Multiple Deliverable Arrangements [Line Items] |  |  |  |
Total revenue | $ 72 |  | $ 72 |

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