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Collaborative Research and License Agreements (Details)
 3 Months Ended 9 Months Ended
Jul. 30, 2021
USD ($)
agreement
Nov. 13, 2019
USD ($)
agreement
Feb. 17, 2019
USD ($)
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Deferred revenue       $ 30,944,000   $ 30,944,000   $ 8,343,000  
Deferred revenue, current       14,015,000   14,015,000   8,343,000  
Deferred revenue, noncurrent       16,929,000   16,929,000   0  
Ipsen Collaboration                  
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Deferred revenue       19,197,000   19,197,000   0  
Ipsen Collaboration | Ipsen HD                  
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Transaction price allocated       10,793,000   10,793,000      
Ipsen Collaboration | Ipsen AS                  
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Transaction price allocated       9,207,000   9,207,000      
AbbVie Collaboration                  
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Deferred revenue       11,747,000   11,747,000   8,343,000  
Collaboration Arrangement | Ipsen Collaboration                  
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Number of collaboration programs | agreement 2                
Proceeds from collaborators $ 20,000,000                
Pre-clinical milestone payment amount 5,000,000                
Development and regulatory milestone payment amount 180,000,000                
Commercial milestone payment amount 762,000,000                
Collaboration agreement, licensing fees incurred $ 3,000,000                
Collaboration agreement, termination notice period 90 days                
Transaction price allocated $ 20,000,000                
Collaboration revenue       803,000   803,000      
Deferred revenue       19,197,000   19,197,000      
Deferred revenue, current       7,945,000   7,945,000      
Deferred revenue, noncurrent       11,252,000   $ 11,252,000      
Collaboration Arrangement | Ipsen Collaboration | Minimum                  
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Estimated timing of revenue recognition           33 months      
Collaboration Arrangement | Ipsen Collaboration | Maximum                  
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Estimated timing of revenue recognition           42 months      
Collaboration Arrangement | Ipsen Collaboration | Option Exercise Period after the Selection                  
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Collaboration option exercise fee 10,000,000                
Collaboration Arrangement | Ipsen Collaboration | Option Exercise Period that begins after the first Option Exercise Period                  
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Collaboration option exercise fee $ 25,000,000                
Collaboration Arrangement | AbbVie Collaboration                  
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Number of collaboration programs | agreement   2              
Collaboration option exercise fee   $ 10,000,000              
Collaboration revenue         $ 2,402,000   $ 16,351,000    
Deferred revenue       11,747,000   $ 11,747,000      
Deferred revenue, current       6,070,000   6,070,000   $ 8,343,000  
Deferred revenue, noncurrent       5,677,000   5,677,000      
Non-refundable upfront payment received for research agreement   25,000,000              
Collaboration option exercise fee   $ 10,000,000              
Termination period upon written notice   90 days              
Cumulative catch-up adjustment to revenue           $ (3,404,000)      
Cumulative catch-up adjustments to revenue, change in estimate       (4,480,000)          
Collaboration Arrangement | AbbVie Collaboration | Development and Commercialization License                  
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Collaboration option exercise fee   $ 15,000,000              
Collaboration Arrangement | AbbVie Collaboration | Minimum                  
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Estimated timing of revenue recognition           24 months      
Collaboration Arrangement | AbbVie Collaboration | Maximum                  
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Estimated timing of revenue recognition           27 months      
Development milestone payment   55,000,000              
Product approval and launch milestone payment   132,500,000              
Sales milestone payment   $ 175,000,000              
Collaboration Arrangement | Dermelix License Agreement                  
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                  
Collaboration revenue       $ 0 $ 41,000 $ 0 $ 122,000    
Deferred revenue                 $ 0
Non-refundable upfront payment received for research agreement     $ 1,000,000            
Collaboration development expenses     $ 1,000,000