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Collaboration and License Agreements - Schedule of Revenue from Collaboration Agreements (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Total revenue $ 30,249 $ 679 $ 35,927 $ 1,087
Roche        
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Total revenue 4,825 0 10,137 0
Bristol-Myers Squibb Company        
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Total revenue 14,951 679 15,317 1,087
Ono Pharmaceutical Company Ltd        
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]        
Total revenue $ 10,473 $ 0 $ 10,473 $ 0