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Significant agreements - Revenue recognition due to changes in contract assets and liabilities (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Significant agreements        
Revenue recognized based on proportional performance $ 3,206 $ 1,267 $ 6,263 $ 3,496
Revenue recognized based on expiration of material rights 1,127   1,507  
Revenue recognized based on changes in transaction price     156  
Total $ 4,333 $ 1,267 $ 7,926 $ 3,496