Collaboration and License Agreements and Supply Agreements - Additional Information (Details)		1 Months Ended									3 Months Ended	12 Months Ended
	Mar. 31, 2021 USD ($)	Dec. 31, 2021 USD ($)	Oct. 31, 2021 USD ($)	Aug. 31, 2020 USD ($)	Mar. 31, 2020 USD ($)	Feb. 29, 2020 USD ($)	Sep. 30, 2019 USD ($)	May 31, 2019 USD ($)	Jul. 31, 2018 USD ($) Program	Aug. 31, 2017 Program	Jun. 30, 2021 USD ($)	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Accounts receivable, reserve for credit losses		$ 0										$ 0
BioNova Option Agreement
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Deferred revenue		4,000,000.0										4,000,000.0
Initial licensing option payment			$ 4,000,000.0
Maximum potential payments related to option exercise, development, regulatory, and commercial milestones			$ 200,000,000
Minimum term of royalties receivable based on annual net sales			10 years
Initial licensing option refundable payment			$ 4,000,000.0
Additional payment required to exercise license option			$ 12,000,000.0
2019 EMD Serono Supply Agreement
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Deferred revenue		0										0	$ 1,000,000
BMS Agreement
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Number of programs advancing through preclinical development | Program										4
Contingent payments								$ 275,000,000.0
Deferred revenue		0										0	0
2018 BMS Master Services Agreement
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Deferred revenue		600,000										600,000	1,200,000
2018 Merck Agreement
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Deferred revenue		900,000										900,000	18,500,000
Milestone payment receivable upon initiation of IND enabling toxicology study											$ 15,000,000.0
2018 Merck Agreement | Merck Sharp & Dohme Corp
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Milestone payment received												2,500,000
Additional milestone payment received												7,500,000
Number of target programs | Program									2
Initial transaction price									$ 60,000,000.0
Upfront payment received												60,000,000.0
Constrained variable consideration												7,500,000
Revenue recognized												1,900,000
Revenue recognition aggregate contingent payments eligible to receive												$ 500,000,000
Milestone method revenue recognition description												If one or more products from the target program is developed for non-oncology or a single indication, the Company will be eligible for reduced aggregate milestone payments. In addition, the Company is eligible to receive tiered royalties ranging from mid-single digit to low teen percentages on the worldwide sales of any commercial products that may result from the collaboration
2018 Merck Agreement | Accounting Standards Update 2014-09 | Merck Sharp & Dohme Corp
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Total interest of unearned revenue		7,300,000										$ 7,300,000
2018 Merck Agreement | Future Services on Collaboration Joint Steering Committee ("JSC")
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Contingent payment received												15,000,000.0
Remaining contingent payment received												300,000
First Cytokine-Derivative Program | Merck Sharp & Dohme Corp
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Upfront payment received					$ 5,000,000.0
Extended research term					1 year
Transaction price	$ 65,000,000.0				$ 65,000,000.0	$ 60,000,000.0					80,000,000.0
Constrained variable consideration						$ 5,000,000.0					15,000,000.0
2020 Merck Master Services Agreement
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Deferred revenue		0										0	0
MDA Agreement | EMD Serono
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Contingent payment received							$ 1,500,000				$ 2,000,000.0
Milestone payment received				$ 1,000,000.0
Deferred revenue		$ 0										0	0
Maximum amount eligible to receive for each product developed												52,500,000
Supply Agreement | Vaxcyte, Inc.
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Reimbursements expenses												8,900,000	$ 500,000
Tasly License Agreement
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Minimum term of royalties receivable based on annual net sales		10 years
Nonrefundable upfront payment receivable		$ 40,000,000.0										40,000,000.0
Maximum potential payments related to development regulatory commercialization contingent payments and milestones		345,000,000										345,000,000
Reduction of research and development expenses recognized												$ 0
Upfront payment revenue not recognized		$ 40,000,000.0