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Collaboration Agreements (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Collaborative Agreements      
License fee expense $ 0.1 $ 0.1 $ 0.2
Yale | License agreement with Yale      
Collaborative Agreements      
Potential milestone payment $ 3.0