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Regeneron License and Collaboration Arrangement - Summary of Change in Company's Contract Liabilities (Details) - USD ($)
$ in Thousands
 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Contract Assets    
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]    
Balance at beginning of period   $ 0
Additions   10,000
Additions (Deductions) (1) [1]   0
Balance at end of period   10,000
Contract Liability    
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]    
Balance at beginning of period $ 13,980 21,883
Additions   10,000
Additions (Deductions) (1) [1] 833 (9,465)
Balance at end of period $ 13,147 $ 22,418
[1] Deductions to contract liabilities relate to deferred revenue recognized as revenue during the reporting period.