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Research Collaboration and License Agreement (Details)
$ in Millions
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Dec. 31, 2014
USD ($)
payment
Research Collaboration and License Agreement          
Number of development milestone payments | payment         3
Aggregate development milestone payment | $ $ 4.0 $ 0.0 $ 4.0 $ 0.0 $ 1.0