California Institute of Regenerative Medicine Awards - Additional Information (Details) - CIRM $ in Millions	1 Months Ended	3 Months Ended
	Sep. 30, 2018 USD ($)	Mar. 31, 2022 Time
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Revenue sharing multiple | Time		9
Period to exercise loan option upon food and drug administration authorization		10 days
Repayment period		10 days
Repayment of awards percentage		60.00%
P-PSMA-101 program
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Award received | $	$ 4.0
LIBOR
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]
Debt instrument basis spread on variable rate		10.00%