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Intangible Assets - Additional Information (Details) - USD ($)
$ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
Apr. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Goodwill And Intangible Assets Disclosure [Abstract]            
Acquired certain intellectual property from a third-party for cash $ 2,000       $ 1,700  
Contingent obligation recognized in business combination $ 300          
Milestone payment           $ 300
Amortization of intangible assets   $ 313 $ 317 $ 944 $ 910