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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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