Inclusion Criteria:

• Must have documented multiple myeloma and measurable disease
• Must have received at least 1 prior line of therapy for multiple myeloma and achieved a response (partial response or better) to at least one prior regimen
• Must have documented evidence of progressive disease as defined by the International Myeloma Working Group criteria on or after their last regimen
• Must have an Eastern Cooperative Oncology Group Performance Status score of 0, 1, or 2

Exclusion Criteria:

• Has received any of the following therapies: daratumumab or other anti-CD38 therapies
• Has received anti-myeloma treatment within 2 weeks or 5 pharmacokinetic half-lives of the treatment
• Disease shows evidence of refractoriness or intolerance to lenalidomide or if previously treated with a lenalidomide-containing regimen the participant is excluded if he or she discontinued due to any adverse event related to prior lenalidomide treatment
• Has received autologous stem cell transplantation within 12 weeks before the date of randomization, or previously received an allogenic stem cell transplant (regardless of timing), or planning to undergo a stem cell transplant prior to progression of disease
• History of malignancy (other than multiple myeloma) within 3 years before the date of randomization