Commitments - License agreements (Details) - USD ($) |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2023 |
Dec. 31, 2022 |
Dec. 31, 2021 |
|
| License agreement, upfront payments | |||
| Research and Development Arrangement, Contract to Perform for Others [Line Items] | |||
| Research and development expense | $ 0 | $ 1,500,000 | $ 3,100,000 |
| License agreement, milestone payments | |||
| Research and Development Arrangement, Contract to Perform for Others [Line Items] | |||
| Research and development expense | $ 0 | $ 700,000 | $ 2,100,000 |