License, Collaboration and Other Significant Agreements - Revenue Recognized Resulting from Changes in Contract Asset and Contract Liability (Details) - USD ($) $ in Thousands |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2022 |
Dec. 31, 2021 |
Dec. 31, 2020 |
|
| Organization, Consolidation and Presentation of Financial Statements [Abstract] | |||
| Amounts included in deferred revenue at the beginning of the period | $ 29,574 | $ 23,364 | $ 36,032 |
| Performance obligations satisfied in previous periods | $ 0 | $ 81 | $ 25,964 |