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Collaboration Agreements - Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Collaboration agreements      
Contract assets $ 0 $ 0 $ 0
Contract liabilities      
Deferred revenue, balance at beginning of period 3,987 4,815  
Deferred revenue, additions 0 0  
Deferred revenue, deductions 43 828  
Deferred revenue, balance at end of period 3,944 3,987  
Revenue recognized in the period from:      
Amounts included in the contract liability at the beginning of the period 43 828  
Performance obligations satisfied in previous periods $ 0 $ 0