Liability Related to Sale of Future Revenues - Additional Information (Details) - USD ($)		3 Months Ended		6 Months Ended
	Nov. 04, 2022	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Total revenue		$ 44,319,000	$ 29,806,000	$ 80,480,000	$ 90,633,000
NovaQuest Capital Management [Member] \| Revenue Interest Financing Agreement [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Effective annual interest rate related to sale of future revenues		15.95%		15.95%
NovaQuest Capital Management [Member] \| Revenue Interest Financing Agreement [Member] \| Minimum [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Prepayment amount of 2024 to 2030	$ 80,000,000.0
NovaQuest Capital Management [Member] \| Revenue Interest Financing Agreement [Member] \| Maximum [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Prepayment amount of 2024 to 2030	125,000,000.0
NovaQuest Capital Management [Member] \| Payment Period One [Member] \| Revenue Interest Financing Agreement [Member] \| Minimum [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Revenue interest payment	62,500,000
NovaQuest Capital Management [Member] \| Payment Cap Date on or before December 31, 2028 [Member] \| Revenue Interest Financing Agreement [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Maximum payment cap amount	100,000,000.0
NovaQuest Capital Management [Member] \| Payment Cap Date on or after January 1, 2029 [Member] \| Revenue Interest Financing Agreement [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Maximum payment cap amount	112,500,000
NovaQuest Capital Management [Member] \| Payment Cap Date after January 1, 2030 [Member] \| Revenue Interest Financing Agreement [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Maximum payment cap amount	125,000,000.0
NovaQuest Capital Management [Member] \| Payment Period Two [Member] \| Revenue Interest Financing Agreement [Member] \| Minimum [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Revenue interest payment	125,000,000.0
Product [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Total revenue		$ 23,889,000	23,256,000	$ 48,049,000	42,137,000
Product [Member] \| NovaQuest Capital Management [Member] \| Revenue Interest Financing Agreement [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Revenue interest payment	10,000,000.0
License [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Total revenue		1,000,000	0	7,000,000	22,590,000
Other Revenue - Contract Manufacturing [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Total revenue		5,158,000	5,457,000	9,050,000	17,219,000
Astellas Agreement [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Future revenue granted	$ 50,000,000.0
Percentage of revenue interest on global net sales	100.00%
Astellas Agreement [Member] \| Maximum [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Revenue payment cap amount		125,000,000.0		125,000,000.0
Astellas Agreement [Member] \| Product [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Percentage of revenue sold	22.50%
Astellas Agreement [Member] \| Milestone payments [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Percentage of revenue sold	10.00%
Astellas Agreement [Member] \| Milestone payments [Member] \| Payment Period One [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Percentage of revenue sold	20.00%
Development Revenue [Member] \| Astellas Agreement [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Total revenue		1,800,000		3,500,000
Drug Product Revenue [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Total revenue		14,272,000	$ 1,093,000	16,381,000	$ 8,687,000
Drug Product Revenue [Member] \| Astellas Agreement [Member]
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Total revenue		14,300,000		16,400,000
Non-cash interest expense related to drug product revenue		$ 1,300,000		$ 3,600,000