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Summary of Significant Accounting Policies - Revenue and Cost of Product Sales (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Accounting Policies [Abstract]        
Period of contract termination by written notice     90 days  
Cost of sales previously expensed as R&D $ 18,589 $ 5,568 $ 59,826 $ 17,095