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Government Grant Funding and Potential Repayment Commitments Under Recoverable Cash Advance Grants (RCAs) - Schedule of Activity for Grant Programs (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Research And Development Arrangement Contract To Perform For Others [Line Items]          
Cash received   $ 659,000   $ 10,488,000  
Grant income $ 1,320,000 2,299,000 $ 8,936,000 4,969,000  
Grants receivable 4,891,000 133,000 4,891,000 133,000 $ 133,000
Grant repayable 5,572,000 5,883,000 5,572,000 5,883,000  
RCA-1          
Research And Development Arrangement Contract To Perform For Others [Line Items]          
Cash received       7,693,000  
Grant income 1,115,000 1,810,000 4,110,000 3,667,000  
Grants receivable 2,944,000   2,944,000    
Grant repayable 4,836,000 5,102,000 4,836,000 5,102,000  
RCA-2          
Research And Development Arrangement Contract To Perform For Others [Line Items]          
Cash received   511,000   2,479,000  
Grant income   428,000 725,000 936,000  
Grants receivable 921,000   921,000    
Grant repayable 736,000 781,000 736,000 781,000 $ 0
Other Grants          
Research And Development Arrangement Contract To Perform For Others [Line Items]          
Cash received   148,000   316,000  
Grant income 205,000 61,000 4,101,000 366,000  
Grants receivable $ 1,026,000 $ 133,000 $ 1,026,000 $ 133,000