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Significant agreements - Revenue recognition due to changes in contract assets and liabilities (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Significant Agreements        
Revenue recognized based on proportional performance $ 1,405 $ 1,251 $ 3,057 $ 2,002
Revenue recognized based on expiration of material rights 380   380  
Revenue recognized based on changes in transaction price     156  
Total $ 1,785 $ 1,251 $ 3,593 $ 2,002