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Revenue and Contract Acquisition Costs - Schedule of Revenue from Major Customers - Concentration Risk (Details) - Sales revenue - Customer concentration risk
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Anda, Inc.      
Concentration Risk [Line Items]      
Concentration risk, percentage 11.00%    
Cardinal Health Inc. and affiliates      
Concentration Risk [Line Items]      
Concentration risk, percentage 10.00% 11.00% 12.00%
Amgen, Inc.      
Concentration Risk [Line Items]      
Concentration risk, percentage     12.00%