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Summary of Significant Accounting Policies - Research and development incentives and receivable (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Research and development incentives and receivable      
Maximum percentage of surrenderable losses 14.50%    
Reduction of research and development $ 6.7 $ 5.9 $ 2.9