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Commitments and Contingencies - Research Collaboration and Licensing Agreements Narrative (Details) - USD ($)
$ in Millions
1 Months Ended 12 Months Ended
Aug. 31, 2018
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Libtayo | Sanofi Collaboration Agreement, Immuno-oncology | Through December 31, 2023        
Research Collaboration and Licensing Arrangements [Line Items]        
Percentage of royalties to be paid 8.00%      
Libtayo | Sanofi Collaboration Agreement, Immuno-oncology | January 1, 2024 Through December 31, 2026        
Research Collaboration and Licensing Arrangements [Line Items]        
Percentage of royalties to be paid 2.50%      
Agreements with Royalty Provisions        
Research Collaboration and Licensing Arrangements [Line Items]        
Royalty rate minimum   0.50%    
Royalty rate maximum   12.00%    
Royalty expense, net of reimbursements from collaborators   $ 84.5 $ 66.9 $ 56.5