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Summary of Significant Accounting Policies - Concentration of Risk and Limited Suppliers (Details) - Revenue Benchmark - Product Concentration Risk
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
PYLARIFY      
Concentration Risk [Line Items]      
Concentration risk percentage 56.40% 10.20% 0.00%
DEFINITY      
Concentration Risk [Line Items]      
Concentration risk percentage 26.20% 54.70% 62.80%
TechneLite      
Concentration Risk [Line Items]      
Concentration risk percentage 9.50% 21.50% 25.40%