Cover [Abstract] Document Information [Table] Document Information [Line Items] Entity Central Index Key Document Type Document Quarterly Report Document Period End Date Document Transition Report Entity File Number Entity Registrant Name Entity Incorporation, State or Country Code Entity Tax Identification Number Entity Address, Address Line One Entity Address, City or Town Entity Address, State or Province Entity Address, Postal Zip Code City Area Code Local Phone Number Title of 12(b) Security Trading Symbol Security Exchange Name Entity Current Reporting Status Entity Interactive Data Current Entity Filer Category Entity Small Business Entity Emerging Growth Company Entity Shell Company Entity Listing, Par Value Per Share Entity Common Stock, Shares Outstanding Current Fiscal Year End Date Document Fiscal Year Focus Document Fiscal Period Focus Amendment Flag Statement of Financial Position [Abstract] Statement [Table] Statement [Line Items] Assets [Abstract] Assets, Current [Abstract] Current assets: Cash and Cash Equivalents, at Carrying Value Cash and cash equivalents Cash and cash equivalents Available-for-sale Securities, Debt Securities, Current Marketable securities Accounts Receivable, Net, Current Accounts receivable Accounts receivable, net Unbilled Receivables, Including Reimbursable Costs, Current Unbilled Receivables, Including Reimbursable Costs, Current Unbilled accounts receivable Inventory, Net Inventory Prepaid Expense and Other Assets, Current Prepaid expenses and other current assets Assets, Current Total current assets Available-for-sale Securities, Debt Securities, Noncurrent Marketable securities Property, Plant and Equipment, Net Property and equipment, net Operating Lease, Right-of-Use Asset Operating lease right-of-use assets, net Restricted Cash, Noncurrent Restricted cash Equity Securities without Readily Determinable Fair Value, Amount Equity investment Other Assets, Noncurrent Other assets Total assets Total assets Liabilities and Equity [Abstract] Liabilities, Current [Abstract] Current liabilities: Accounts Payable, Current Accounts payable Accrued Liabilities, Current Accrued expenses Total Operating Lease, Liability, Current Current portion of operating lease liabilities Contract with Customer, Liability, Current Current portion of deferred revenue Contract liabilities, current Other Long-Term Debt, Current Current portion of liabilities related to the sale of future royalties and revenues Secured Debt, Current Current portion of term loan Liabilities, Current Total current liabilities Operating Lease, Liability, Noncurrent Operating lease liabilities, net of current portion Contract with Customer, Liability, Noncurrent Deferred revenue, net of current portion Contract liabilities, noncurrent Other Long-Term Debt, Noncurrent Liabilities related to the sale of future royalties and revenues, net of current portion Secured Long-Term Debt, Noncurrent Term loan, net of current portion Other Liabilities, Noncurrent Other long-term liabilities Total liabilities Total liabilities Commitments and Contingencies Commitments and Contingencies (Note 15) Stockholders' Equity Attributable to Parent [Abstract] Stockholders' equity: Preferred Stock, Value, Outstanding Preferred stock, $0.001 par value; 5,000,000 shares authorized; no shares issued and outstanding Common Stock, Value, Issued Common stock, $0.001 par value; 120,000,000 shares authorized; 59,808,492 and 59,141,086 shares issued and outstanding at September 30, 2022 and December 31, 2021, respectively Additional Paid in Capital Additional paid-in capital Accumulated Other Comprehensive Income (Loss), Net of Tax Accumulated other comprehensive loss Retained Earnings (Accumulated Deficit) Accumulated deficit Stockholders' Equity Attributable to Parent Ending Balance Beginning Balance Total stockholders' equity Liabilities and Equity Total liabilities and stockholders' equity Preferred Stock, Number of Shares, Par Value and Other Disclosures [Abstract] Preferred Stock Disclosures Preferred Stock, Par or Stated Value Per Share Preferred stock, par value (in dollars per share) Preferred Stock, Shares Authorized Preferred stock, shares authorized (in shares) Preferred Stock, Shares Issued Preferred stock, shares issued (in shares) Preferred Stock, Shares Outstanding Preferred stock, shares outstanding (in shares) Common Stock, Number of Shares, Par Value and Other Disclosures [Abstract] Common Stock Disclosures Common Stock, Par or Stated Value Per Share Common stock, par value (in dollars per share) Common Stock, Shares Authorized Common stock, shares authorized (in shares) Common Stock, Shares, Issued Ending Balance (in shares) Beginning Balance (in shares) Common stock, shares issued (in shares) Common Stock, Shares, Outstanding Common Stock, shares outstanding (in shares) Income Statement [Abstract] Product and Service [Axis] Product and Service [Domain] Product revenue, net Collaboration and License [Member] Collaboration and License [Member] Collaboration and license revenue Collaboration and License, Excluding Related Party [Member] Collaboration and License, Excluding Related Party [Member] Collaboration and license revenue Collaboration and License, Related Party [Member] Collaboration and License, Related Party [Member] License [Member] License revenue License, Related Party [Member] License, Related Party [Member] License revenue - related party Revenues [Abstract] Revenues Revenues: Revenue from Contract with Customer, Including Assessed Tax Revenue Operating Expenses [Abstract] Cost and operating expenses: Cost of Goods and Services Sold Cost of sales Research and Development Expense Research and development Research and development expense Selling, General and Administrative Expense Selling, general and administrative Collaboration Profit (Loss) Sharing Collaboration Profit (Loss) Sharing Collaboration loss sharing Costs and Expenses Total cost and operating expenses Nonoperating Income (Expense) [Abstract] Other income (expense): Interest Income (Expense), Net Interest income (expense), net Other Nonoperating Income (Expense) Other income (expense), net Nonoperating Income (Expense) Total other income (expense), net Income (Loss) from Continuing Operations before Income Taxes, Noncontrolling Interest Loss before income taxes Income Tax Expense (Benefit) Income tax expense Income tax expense (benefit) Net Income (Loss) Attributable to Parent Net loss Net loss Other Comprehensive Income (Loss), Net of Tax, Portion Attributable to Parent [Abstract] Other comprehensive loss: Other Comprehensive Income (Loss), Unrealized Holding Gain (Loss) on Securities Arising During Period, Net of Tax Unrealized losses on available-for-sale investments Other Comprehensive Income (Loss), Foreign Currency Transaction and Translation Adjustment, Net of Tax Currency translation adjustments Comprehensive Income (Loss), Net of Tax, Attributable to Parent Comprehensive loss Earnings Per Share, Basic Net income (loss) per share - basic (in dollars per share) Earnings Per Share, Diluted Net income (loss) per share - diluted (in dollars per share) Weighted Average Number of Shares Outstanding, Basic Weighted-average number of common shares used in net loss per share - basic (in shares) Weighted Average Number of Shares Outstanding, Diluted Weighted-average number of common shares used in net loss per share - diluted (in shares) Statement of Stockholders' Equity [Abstract] Equity Components [Axis] Equity Component [Domain] Parent [Member] Common Stock Additional Paid-In Capital Accumulated Other Comprehensive Loss Accumulated Deficit Increase (Decrease) in Stockholders' Equity [Roll Forward] Increase (Decrease) in Stockholders' Equity Stock Issued During Period, Value, Share-based Compensation, Net of Forfeitures Issuance of common stock under stock plan Stock Issued During Period, Shares, Share-based Compensation, Net of Forfeitures Issuance of common stock under stock plan (in shares) Stock Issued During Period, Value, Employee Stock Purchase Plan Purchase of common stock under ESPP Stock Issued During Period, Shares, Employee Stock Purchase Plans Purchase of common stock under ESPP (in shares) Adjustments to Additional Paid in Capital, Share-based Compensation, Requisite Service Period Recognition Stock-based compensation expense Stock Issued During Period, Value, New Issues Issuance of common stock Stock Issued During Period, Shares, New Issues Stock issued (in shares) Issuance of common stock (in shares) Other Comprehensive Income (Loss), Net of Tax, Portion Attributable to Parent Other comprehensive income (loss) Statement of Cash Flows [Abstract] Net Cash Provided by (Used in) Operating Activities [Abstract] Cash flows from operating activities Net Income (Loss), Including Portion Attributable to Noncontrolling Interest Net loss Adjustments, Noncash Items, to Reconcile Net Income (Loss) to Cash Provided by (Used in) Operating Activities [Abstract] Adjustments to reconcile net income (loss) to net cash provided by (used in) operating activities: Depreciation, Depletion and Amortization Depreciation and amortization Lease, Right-of-Use Asset, Amortization. Lease, Right-of-Use Asset, Amortization Non-cash lease expense Share-based Compensation Stock-based compensation Noncash Interest Expense Noncash Interest Expense Non-cash interest expense Noncash customer consideration Noncash customer consideration Non-cash customer consideration Other Operating Activities, Cash Flow Statement Other Increase (Decrease) in Operating Capital [Abstract] Changes in assets and liabilities: Increase (Decrease) in Accounts Receivable Accounts receivable The increase (decrease) during the reporting period of the amount of customer assets. Increase (Decrease) in Customer Assets Unbilled accounts receivable Increase (Decrease) in Inventories Inventory Increase (Decrease) in Prepaid Expense and Other Assets Prepaid expenses and other current assets Increase (Decrease) in Other Noncurrent Assets Other assets Increase (Decrease) in Accounts Payable Accounts payable Increase (Decrease) in Accrued Liabilities Accrued expenses Increase (Decrease) in Other Noncurrent Liabilities Other long-term liabilities Increase (Decrease) in Contract with Customer, Liability Deferred revenue Increase (Decrease) in Operating Lease Liability Operating lease liabilities Net Cash Provided by (Used in) Operating Activities Net cash used in operating activities Net Cash Provided by (Used in) Investing Activities [Abstract] Cash flows from investing activities Payments to Acquire Property, Plant, and Equipment Purchases of property and equipment Payments to Acquire Available-for-sale Securities, Debt Purchases of investments Proceeds from Maturities, Prepayments and Calls of Available-for-sale Securities Maturities of investments Proceeds from the maturities of debt securities Payments for (Proceeds from) Other Investing Activities Other Net Cash Provided by (Used in) Investing Activities Net cash provided by (used in) investing activities Net Cash Provided by (Used in) Financing Activities [Abstract] Cash flows from financing activities Proceeds from (Repayments of) Other Long-Term Debt Net proceeds from the sale of future royalties and revenues Proceeds from (Repayments of) Secured Debt Net proceeds from term loan facility Net Proceeds from Stock Option Exercises and Employee Stock Purchase Plan Net Proceeds from Stock Option Exercises and Employee Stock Purchase Plan Net proceeds from stock option exercises and employee stock purchase plan Net Cash Provided by (Used in) Financing Activities Net cash provided by financing activities Cash, Cash Equivalents, Restricted Cash and Restricted Cash Equivalents, Period Increase (Decrease), Including Exchange Rate Effect Net increase (decrease) in cash, cash equivalents, and restricted cash Cash, Cash Equivalents, Restricted Cash and Restricted Cash Equivalents Cash, cash equivalents and restricted cash at end of period Cash, cash equivalents and restricted cash at beginning of period Total cash, cash equivalents, and restricted cash shown in condensed consolidated statements of cash flows Effect of Exchange Rate on Cash, Cash Equivalents, Restricted Cash, and Restricted Cash Equivalents, Including Disposal Group and Discontinued Operations Effect of exchange rate changes on cash, cash equivalents and restricted cash Supplemental Cash Flow Information [Abstract] Supplemental cash flow information Interest Paid, Excluding Capitalized Interest, Operating Activities Cash paid for interest Capital Expenditures Incurred but Not yet Paid Property and equipment purchases unpaid at period end Income Taxes Paid, Net Cash paid for taxes, net Cash, Cash Equivalents, Restricted Cash and Restricted Cash Equivalents [Abstract] Reconciliation of cash, cash equivalents, and restricted cash Organization, Consolidation and Presentation of Financial Statements [Abstract] Disclosure Text Block [Abstract] Disclosure Text Block Nature of Operations [Text Block] Nature of Business Accounting Policies [Abstract] Organization, Consolidation, Basis of Presentation, Business Description and Accounting Policies [Text Block] Summary of Significant Accounting Policies and Recent Accounting Pronouncements Debt Disclosure [Abstract] Long-Term Debt [Text Block] Financing Arrangements Investments, Debt and Equity Securities [Abstract] Investments in Debt and Marketable Equity Securities (and Certain Trading Assets) Disclosure [Text Block] Marketable Securities Fair Value Disclosures [Abstract] Fair Value Disclosures [Text Block] Fair Value of Financial Instruments Revenue from Contract with Customer [Abstract] Allowance for Credit Losses [Text Block] Product Revenue Reserves and Allowances Inventory Disclosure [Abstract] Inventory Disclosure [Text Block] Inventory Restricted Cash and Cash Equivalents [Abstract] Restricted Assets Disclosure [Text Block] Restricted Cash Payables and Accruals [Abstract] Accounts Payable and Accrued Liabilities Disclosure [Text Block] Accrued Expenses Collaborative Arrangement Disclosure [Abstract] Collaborative Arrangement Disclosure [Abstract] Collaborative Arrangement Disclosure [Text Block] Collaboration and License Agreements Disclosure of Compensation Related Costs, Share-based Payments [Abstract]