Collaboration, License and Research Agreements - Additional Information (Details) - USD ($)	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Revenue recognized	$ 3,543,000	$ 2,233,000
Research Collaboration, License Agreement and Securities Purchase Agreement with BMS
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Revenue recognized	2,400,000
Collaboration receivables	0		$ 0
Research Collaboration and License Agreement with Eli Lilly
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Revenue recognized	1,100,000	$ 2,200,000
Collaboration receivables	$ 1,300,000		$ 800,000