Annual report pursuant to Section 13 and 15(d)

Collaborative Arrangements - Tate & Lyle (Details)

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Collaborative Arrangements - Tate & Lyle (Details) - USD ($)
1 Months Ended 12 Months Ended
Mar. 31, 2017
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Nov. 30, 2020
Apr. 30, 2017
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]            
Contract liabilities, deferred revenue   $ 4,791,000 $ 2,044,000      
Research and Development Agreement | Tate & Lyle            
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]            
Contract liabilities, deferred revenue           $ 3,000,000.0
Term of collaborative research and development agreement 21 months          
Liability, revenue recognized   0 $ 100,000 $ 7,100,000    
Commercial Agreement | Tate & Lyle            
Collaborative Arrangements and Non-collaborative Arrangement Transactions [Line Items]            
Contract liabilities, deferred revenue   200,000        
Liability, revenue recognized   200,000        
Contingent receivable   $ 400,000     $ 1,100,000