Document and Entity Information Document Information [Table] Document Information [Line Items] Document Type Document Annual Report Document Transition Report Document Period End Date 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 Well-known Seasoned Issuer Entity Voluntary Filers Entity Current Reporting Status Entity Interactive Data Current Entity Filer Category Entity Small Business Entity Emerging Growth Company ICFR Auditor Attestation Flag Entity Shell Company Entity Public Float Entity Common Stock, Shares Outstanding Auditor Name Auditor Firm ID Auditor Location Current Fiscal Year End Date Document Fiscal Year Focus Document Fiscal Period Focus Entity Central Index Key Amendment Flag Consolidated Balance Sheets Statement [Table] Statement [Line Items] Assets [Abstract] ASSETS Assets, Current [Abstract] Current assets: Cash and Cash Equivalents, at Carrying Value Cash and cash equivalents Marketable Securities, Current Marketable securities Receivables, Net, Current Accounts receivable, Balance at End of Period Accounts receivable, Balance at Beginning of Period Accounts receivable Prepaid Expense and Other Assets, Current Prepaid expenses and other current assets Assets, Current Total current assets Marketable Securities, Noncurrent Marketable securities Noncurrent marketable securities Property, Plant and Equipment, Net Property and equipment, net Property and equipment, net Operating Lease, Right-of-Use Asset Right-of-use assets Other Assets, Noncurrent Restricted cash and other non-current assets Assets Total assets Liabilities and Equity [Abstract] LIABILITIES AND STOCKHOLDERS' EQUITY Liabilities, Current [Abstract] Current liabilities: Accounts Payable, Current Accounts payable Accrued Liabilities, Current Accrued expenses Total accrued expenses Contract with Customer, Liability, Current Deferred revenue, current Operating Lease, Liability, Current Operating lease liabilities, current Operating lease liabilities Liabilities, Current Total current liabilities Operating Lease, Liability, Noncurrent Operating lease liabilities, noncurrent Operating lease liabilities, net of current portion Contract with Customer, Liability, Noncurrent Deferred revenue, net of current portion Deferred revenue, long-term Liabilities Total liabilities Stockholders' Equity Attributable to Parent [Abstract] Stockholders' equity Preferred Stock, Value, Issued Preferred stock, $0.0001 par value per share: 5,000,000 shares authorized; no shares issued or outstanding Common Stock, Value, Issued Common stock, $0.0001 par value per share: 195,000,000 shares authorized; 68,847,382 and 68,489,257 shares issued, and 68,847,382 and 68,435,257 shares outstanding at December 31, 2022 and December 31, 2021, respectively Additional Paid in Capital, Common Stock Additional paid-in capital Accumulated Other Comprehensive Income (Loss), Net of Tax Accumulated other comprehensive loss Retained Earnings (Accumulated Deficit) Accumulated deficit Accumulated deficit Stockholders' Equity Attributable to Parent Balance, end of period Balance, beginning of period Total stockholders' equity Liabilities and Equity Total liabilities and stockholders' equity Preferred Stock, Par or Stated Value Per Share Preferred stock, par value (in dollars per share) Preferred Stock, Shares Authorized Preferred stock, shares authorized Authorized preferred stock Preferred Stock, Shares Issued Preferred stock, shares issued Preferred Stock, Shares Outstanding Preferred stock, shares outstanding Common Stock, Par or Stated Value Per Share Common stock, par value (in dollars per share) Common Stock, Shares Authorized Common stock, shares authorized Common Stock, Shares, Issued Common stock, shares issued Common Stock, Shares, Outstanding Common stock, shares outstanding Consolidated Statements of Operations Revenue from Contract with Customer, Excluding Assessed Tax Collaboration and other research and development revenues Revenue from Contract with Customer, Product and Service [Extensible List] Revenue type Operating Expenses [Abstract] Operating expenses: Research and Development Expense Research and development General and Administrative Expense General and administrative Operating Expenses Total operating expenses Operating Income (Loss) Operating loss Nonoperating Income (Expense) [Abstract] Other income, net: Other Nonoperating Income (Expense) Other income (expense), net Investment Income, Net Interest income, net Nonoperating Income (Expense) Total other income, net Net Income (Loss) Attributable to Parent Net loss Net loss Net loss Net Income (Loss) Available to Common Stockholders, Basic Net loss, basic Net Income (Loss) Available to Common Stockholders, Diluted Net loss, diluted Earnings Per Share, Basic Net loss per share, basic (in dollars per share) Earnings Per Share, Diluted Net loss per share, diluted (in dollars per share) Weighted Average Number of Shares Outstanding, Basic Weighted-average common shares outstanding, basic (in shares) Weighted Average Number of Shares Outstanding, Diluted Weighted-average common shares outstanding, diluted (in shares) Consolidated Statements of Comprehensive Loss Other Comprehensive Income (Loss), Net of Tax, Portion Attributable to Parent [Abstract] Other comprehensive loss: Other Comprehensive Income (Loss), Available-for-sale Securities Adjustment, Net of Tax Unrealized loss on marketable debt securities Comprehensive Income (Loss), Net of Tax, Attributable to Parent Comprehensive loss Consolidated Statements of Stockholders' Equity Equity Components [Axis] Equity Component [Domain] Common Stock Additional Paid-In Capital Accumulated Deficit Accumulated Other Comprehensive Income (Loss) Sale of Stock [Axis] Sale of Stock [Domain] Represents information pertaining to at market offering. At The Market Offering Increase (Decrease) in Stockholders' Equity [Roll Forward] Statement of Stockholders' Equity (Deficit) Shares, Outstanding Balance, end of period (in shares) Balance, beginning of period (in shares) Stock Issued During Period, Value, New Issues Issuance of common stock for public offering Stock Issued During Period, Shares, New Issues Number of common stock issued Issuance of common stock for public offering (in shares) Value of shares issued during the period as a result of repayment of notes payable. Stock Issued During Period, Value, Repayment of Notes Issuance of common stock for repayment of notes payable Number of shares issued during the period as a result of repayment of notes payables. Stock Issued During Period, Shares, Repayment of debt Issuance of common stock for repayment of notes payable (in shares) Stock Issued During Period, Value, Stock Options Exercised Exercise of stock options Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period Exercised (in shares) Exercise of stock options (in shares) Stock Issued During Period, Value, Restricted Stock Award, Net of Forfeitures Vesting of restricted common stock awards Stock Issued During Period, Shares, Restricted Stock Award, Net of Forfeitures Vesting of restricted common stock awards (in shares) Adjustments to Additional Paid in Capital, Share-based Compensation, Requisite Service Period Recognition Stock-based compensation expense Stock Issued During Period, Value, Share-based Compensation, Net of Forfeitures Purchase of common stock under benefits plans Stock Issued During Period, Shares, Share-based Compensation, Gross Purchase of common stock under benefits plans (in shares) Other Comprehensive Income (Loss), Net of Tax Unrealized loss on marketable debt securities Payments of Stock Issuance Costs Stock issuance costs Consolidated Statements of Cash Flows Net Cash Provided by (Used in) Operating Activities, Continuing Operations [Abstract] Cash flow 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 loss to net cash used in operating activities: Share-based Compensation Stock-based compensation expense Depreciation Depreciation Depreciation expense Equity Securities, FV-NI, Realized Gain Realized gain on corporate equity securities Realized gain on corporate equity securities Research and Development in Process Non-cash research and development expenses Other Noncash Income (Expense) Other non-cash items, net Increase (Decrease) in Operating Capital [Abstract] Changes in operating assets and liabilities: Increase (Decrease) in Accounts Receivable Accounts receivable Increase (Decrease) in Prepaid Expense and Other Assets Prepaid expenses and other current assets Amount represents the increase (decrease) in right of use assets. Increase (Decrease) in Right Of Use Assets Right-of-use assets Increase (Decrease) in Other Noncurrent Assets Other non-current assets Increase (Decrease) in Accounts Payable Accounts payable Increase (Decrease) in Accrued Liabilities Accrued expenses Increase (Decrease) in Contract with Customer, Liability Deferred revenue Increase (Decrease) in Right Of Use Liability Operating lease liabilities Increase (Decrease) in Other Operating Liabilities Other current and non-current liabilities Net Cash Provided by (Used in) Operating Activities Net cash used in operating activities Net Cash Provided by (Used in) Investing Activities, Continuing Operations [Abstract] Cash flow from investing activities Payments to Acquire Property, Plant, and Equipment Purchases of property and equipment Proceeds from Sale of Machinery and Equipment Proceeds from the sale of equipment Payments to Acquire Marketable Securities Purchases of marketable securities Proceeds from Sale and Maturity of Marketable Securities Proceeds from maturities of marketable securities The cash inflow associated with the sale of equity securities. Proceeds from Sale of Equity Securities Proceeds from sale of corporate equity securities Net Cash Provided by (Used in) Investing Activities Net cash provided by (used in) investing activities Net Cash Provided by (Used in) Financing Activities, Continuing Operations [Abstract] Cash flow from financing activities Proceeds from Issuance of Common Stock Proceeds from offering of common stock, net of issuance costs Proceeds from Stock Options Exercised Proceeds from exercise of stock options Proceeds from Stock Plans Issuance of common stock under benefit plans 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, end of period Cash, cash equivalents, and restricted cash, beginning of period Supplemental Cash Flow Information [Abstract] Supplemental disclosure of cash and non-cash activities: Capital Expenditures Incurred but Not yet Paid Fixed asset additions included in accounts payable and accrued expenses Operating Lease, Payments Cash paid in connection with operating lease liabilities Right-of-Use Asset Obtained in Exchange for Operating Lease Liability Right-of-use assets obtained in exchange of operating lease obligations Stock Issued Issuance of common stock for settlement of success payments (see Note 8) Nature of Business Nature of Operations [Text Block] Nature of Business Summary of Significant Accounting Policies Significant Accounting Policies [Text Block] Summary of Significant Accounting Policies Cash Equivalents and Marketable Securities Cash, Cash Equivalents, and Marketable Securities [Text Block] Cash Equivalents and Marketable Securities Fair Value Measurements Fair Value Disclosures [Text Block] Fair Value Measurements Property and Equipment, Net Property and equipment policy Property, Plant and Equipment Disclosure [Text Block] Property and Equipment, Net Accrued Expenses Accounts Payable and Accrued Liabilities Disclosure [Text Block] Accrued Expenses Leases Lessee, Operating Leases [Text Block] Leases Commitments and Contingencies Commitments and Contingencies Disclosure [Text Block] Commitments and Contingencies No definition available. Collaboration Agreements Collaborative Arrangement Disclosure [Text Block] Collaboration Agreements Preferred Stock Preferred Stock [Text Block] Preferred Stock Common Stock. Stockholders' Equity Note Disclosure [Text Block] Common Stock Stock-based Compensation Disclosure of Compensation Related Costs, Share-based Payments [Text Block] Stock-based Compensation 401(k) Savings Plan Compensation and Employee Benefit Plans [Text Block] 401(k) Savings Plan Income Taxes Income Tax Disclosure [Text Block] Income Taxes Net Loss per Share Earnings Per Share [Text Block] Net Loss per Share