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Revenues - Contract Assets and Liabilities (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2022 | Oct. 01, 2021 | Sep. 30, 2022 | Oct. 01, 2021 | Dec. 31, 2021
Contract assets: |  |  |  |  |
Contract assets | $ 364 |  | $ 364 |  | $ 1,665
Contract liabilities: |  |  |  |  |
Current portion | 6,932 |  | 6,932 |  | 7,814
Long-term portion | 6,491 |  | 6,491 |  | 8,739
Total contract liabilities | 13,423 |  | 13,423 |  | $ 16,553
Contract revenue recognized, including revenue from deferred revenue beginning balance |  |  | 6,600 | $ 6,800 |
Revenues recognized for performance obligations satisfied in previous periods | 33,900 | $ 48,400 | 125,000 | $ 116,200 |
Takeda and Ispen |  |  |  |  |
Contract liabilities: |  |  |  |  |
Remaining performance obligation | $ 83,100 |  | $ 83,100 |  |

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