California Institute of Regenerative Medicine Awards - Additional Information (Details) - California Institute Of Regenerative Medicine
$ in Millions
1 Months Ended 12 Months Ended
Dec. 31, 2021
USD ($)
Sep. 30, 2018
USD ($)
Dec. 31, 2017
USD ($)
Dec. 31, 2021
USD ($)
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 B C M A101 Phase1 Clinical Trial        
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]        
Award received     $ 19.8  
Proceeds form award received upon achievement of development milestones $ 19.7      
Milestone payments receivable 0.1     $ 0.1
P-PSMA-101 program        
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]        
Award received   $ 4.0    
Proceeds form award received upon achievement of development milestones $ 4.0      
LIBOR        
Collaborative Arrangements And Noncollaborative Arrangement Transactions [Line Items]        
Debt instrument basis spread on variable rate       10.00%