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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, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Significant agreements        
Revenue recognized based on proportional performance $ 3,040 $ 3,206 $ 10,072 $ 6,263
Revenue recognized based on expiration of material rights   1,127 1,206 1,507
Revenue recognized based on changes in transaction price       156
Total $ 3,040 $ 4,333 $ 11,278 $ 7,926