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Summary of Significant Accounting Policies - Goodwill and Other Intangible Assets (Details) - USD ($)
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Goodwill and Intangible Assets [Line Items]      
Impairment loss for goodwill $ 0 $ 0  
Intangible asset impairment charges 113,400,000 0 $ 0
Finite-lived intangible asset impairment 0 0 0
Amortization expense 100,000 $ 200,000 200,000
Amortization relating to other intangible assets      
2021 1,000,000    
2022 1,000,000    
2023 1,000,000    
2024 1,000,000    
2025 1,000,000    
Thereafter 1,000,000    
In-process research and development      
Goodwill and Intangible Assets [Line Items]      
Intangible asset impairment charges $ 113,400,000    
In-process research and development | Research and development      
Goodwill and Intangible Assets [Line Items]      
Intangible asset impairment charges     8,800,000
Variable Interest Entity | Privately-held Companies      
Goodwill and Intangible Assets [Line Items]      
Goodwill written off     $ 3,500,000