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Collaboration Agreements (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Collaborative Agreements      
License fee expense $ 0.2 $ 0.1 $ 0.7
Type of cost of goods sold line item us-gaap:LicenseMember us-gaap:LicenseMember us-gaap:LicenseMember
Southampton      
Collaborative Agreements      
Potential milestone payment $ 1.0    
Amgen      
Collaborative Agreements      
Potential milestone payment 0.9    
Yale      
Collaborative Agreements      
Potential milestone payment $ 3.0