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Collaboration Agreement - Related Party (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended 47 Months Ended
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Jun. 30, 2021
Related Party Transaction [Line Items]                  
Collaboration revenue - related party $ 1,900     $ 2,435     $ (61) $ 8,592  
Increase in net loss $ 17,410 $ 23,598 $ 11,813 $ 11,829 $ 6,208 $ 6,554 $ 52,821 $ 24,591  
Increase in basic loss per share (in dollars per share) $ 0.41     $ 1.54     $ 1.26 $ 3.21  
Increase in diluted loss per share (in dollars per share) $ 0.41     $ 1.54     $ 1.26 $ 3.21  
Cumulative Effect, Change Of Accounting Estimate, Adjustment | Revision In Estimated Total Costs Related To Development Program                  
Related Party Transaction [Line Items]                  
Increase in net loss             $ 4,200    
Increase in basic loss per share (in dollars per share)             $ 0.10    
Increase in diluted loss per share (in dollars per share)             $ 0.10    
Takeda | Investor | Collaborative Arrangement                  
Related Party Transaction [Line Items]                  
Proceeds from collaborators             $ 3,600 $ 12,100  
Collaboration revenue - related party                 $ 51,900