License, Collaboration and Other Significant Agreements - International Collaboration and License Agreement with Otsuka Pharmaceutical Co. Ltd. Narrative (Details) $ in Thousands	12 Months Ended			69 Months Ended
	Dec. 31, 2022 USD ($) performance_obligation	Dec. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)	Dec. 31, 2022 USD ($)
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Total revenues	$ 292,602	$ 213,578	$ 295,307
Deferred revenue	47,034			$ 47,034
Accounts payable
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Deferred revenue	0	3,171	7,227	0
Prepaid expenses and other current assets
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Accounts receivable	781	4,309	1,722	781
License, collaboration and other revenue
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Total revenues	$ 115,535	71,362	166,406
Otsuka Pharmaceutical Co. Ltd. | Otsuka International Agreement
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Number of performance obligations | performance_obligation	3
Reimbursement for counterparty share of costs previously incurred	$ 200
Estimate subsequent cost share payment receivable				$ 216,700
Otsuka Pharmaceutical Co. Ltd. | Otsuka International Agreement | Accounts payable
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Deferred revenue		900
Otsuka Pharmaceutical Co. Ltd. | Otsuka International Agreement | Prepaid expenses and other current assets
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Accounts receivable		1,300
Otsuka Pharmaceutical Co. Ltd. | Otsuka International Agreement | License, collaboration and other revenue
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Total revenues	5,503	$ 16,449	$ 45,451
Otsuka Pharmaceutical Co. Ltd. | Up-front, Non-refundable and Non-creditable | Otsuka International Agreement
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]
Upfront cash payment received	$ 73,000