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Commitments and Contingencies - Strategic Collaborations (Details) - PCV Agreement - USD ($)
$ in Millions
Dec. 31, 2020
Dec. 31, 2019
Apr. 30, 2018
Jun. 30, 2017
Research and Development Arrangement, Contract to Perform for Others [Line Items]        
Budgeted amount       $ 250.0
PCV products        
Research and Development Arrangement, Contract to Perform for Others [Line Items]        
Budgeted amount $ 243.0 $ 243.0 $ 243.0