Summary of Significant Accounting Policies - Narrative (Details) - USD ($)	1 Months Ended	12 Months Ended
	Jun. 30, 2015	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Summary of significant accounting policies
Impairment loss of long-lived assets		$ 0	$ 0	$ 0
Minimum
Summary of significant accounting policies
Estimated useful lives		3 years
Payment terms		30 days
Maximum
Summary of significant accounting policies
Estimated useful lives		5 years
Payment terms		60 days
AstraZeneca
Summary of significant accounting policies
Aggregate cost of revenue recognized		$ 15,300,000
AstraZeneca | AZ Termination Agreement
Summary of significant accounting policies
Percentage of royalty revenue	10.00%
Percentage of non royalty revenue	20.00%
Maximum potential payment per agreement	$ 75,000,000