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Commitments and Contingencies - Legal proceedings (Details) - Settlement And License Agreement With Pepscan
€ in Millions, $ in Millions
1 Months Ended 3 Months Ended 12 Months Ended
Nov. 30, 2020
EUR (€)
Dec. 31, 2020
USD ($)
Dec. 31, 2020
USD ($)
Dec. 31, 2020
EUR (€)
Dec. 31, 2020
USD ($)
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]          
Payments for Legal Settlements | € € 3        
Settlement payable on first anniversary | €       € 1  
Milestone payments         $ 92.4
Litigation settlement amount   $ 4.7 $ 4.7    
Litigation liability         $ 1.0