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Fair Value of Financial Instruments - Schedule of Calculation of Estimated Fair Value of Contingent Consideration Liabilities (Details) - Contingent Consideration Liabilities
6 Months Ended
Jun. 30, 2021
Technology Milestones | Minimum  
Derivative Liability [Abstract]  
Milestone liabilities projected year of payment 2021
Technology Milestones | Maximum  
Derivative Liability [Abstract]  
Milestone liabilities projected year of payment 2022
Product Milestones | Minimum  
Derivative Liability [Abstract]  
Milestone liabilities projected year of payment 2023
Product Milestones | Maximum  
Derivative Liability [Abstract]  
Milestone liabilities projected year of payment 2028
Measurement Input, Discount Rate | Technology Milestones  
Derivative Liability [Abstract]  
Contingent consideration liability measurement input 7.50
Measurement Input, Discount Rate | Product Milestones  
Derivative Liability [Abstract]  
Contingent consideration liability measurement input 7.50
Probability of Payment | Technology Milestones | Minimum  
Derivative Liability [Abstract]  
Contingent consideration liability measurement input 10
Probability of Payment | Technology Milestones | Maximum  
Derivative Liability [Abstract]  
Contingent consideration liability measurement input 60
Probability of Payment | Product Milestones | Minimum  
Derivative Liability [Abstract]  
Contingent consideration liability measurement input 2
Probability of Payment | Product Milestones | Maximum  
Derivative Liability [Abstract]  
Contingent consideration liability measurement input 15