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Summary of Significant Accounting Policies - License And Contract Revenue (Details) - License and contract revenue - USD ($)
$ in Millions
9 Months Ended
Sep. 30, 2022
Dec. 31, 2021
Revenue Recognition    
Contract assets $ 0.1 $ 0.2
Contract liabilities 2.7 $ 2.6
Revenue recognized 0.1  
Wholly- or partially-unsatisfied performance obligations $ 0.3