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Collaborations - Additional Information (Details) - USD ($)
$ in Thousands
1 Months Ended 3 Months Ended
Mar. 31, 2019
Mar. 31, 2021
Dec. 31, 2020
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]      
Consideration in excess of fair value   $ 241,959  
Toray Development Agreement      
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]      
Contract liability   $ 1,500 $ 1,500
Series T Convertible Preferred Stock | Toray Development Agreement      
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]      
Issuance of shares 717,514    
Consideration in excess of fair value $ 1,500