Inclusion Criteria:

          -  Histology: Part 1: Metastatic castration-resistant prostate cancer (mCRPC) with
             histologic confirmation of adenocarcinoma. Adenocarcinoma with small-cell or
             neuroendocrine features is allowed. mCRPC is defined by prostate Cancer Working Group
             (PCWG )3 criteria. Part 2: mCRPC as defined above or pathologically confirmed
             metastatic renal cell carcinoma (RCC) as defined by world health organization (WHO)
             2016 Classifications

          -  Measurable or evaluable disease: Part 1: Either measurable or evaluable disease for
             prostate cancer. Part 2: At least one measurable lesion as per RECIST v1.1.

          -  Evidence of disease progression on prior therapy that requires a new line of treatment

          -  Participants with accessible lesions enrolled in selected pharmacokinetic
             (PK)/pharmacodynamics (PD) cohorts and in Part 2 must agree to undergo the mandatory
             fresh tumor biopsies, unless collection of the biopsy presents a safety risk

        Exclusion Criteria:

          -  Less than 2 weeks between prior anticancer treatment (including radiotherapy)
             discontinuation and the first dose of study drug, and toxicities have not returned to
             Grade less than or equal to (<=) 1 or baseline

          -  Prior treatment with prostate-specific membrane antigen (PSMA)-targeted therapy except
             for PSMA-targeted vaccine is permitted

          -  Solid organ or bone marrow transplantation

          -  Seizure or known condition that may predispose to seizure or intracranial masses

          -  Other active malignancy requiring systemic treatment <=12 months prior to enrollment