Collaboration, License and Research Agreements - Schedule of Reconciliation of Deferred Revenue (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Contract With Customer, Liability [Roll Forward]
Revenue recognized that was included in the balance at the beginning of the period	$ (5,648)	$ (4,933)	$ (4,732)
Beginning balance	6,175	11,108
Unearned revenue from cash received during the period	68,736
Ending balance	$ 69,263	$ 6,175	$ 11,108