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Condensed Consolidated Statements of Cash Flows Supplemental Information - Summary of Depreciation and Amortization (Parenthetical) (Details) - USD ($)
$ in Millions
9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Supplemental Cash Flow Elements [Abstract]    
Amortization of intangible assets net in research and development $ 1.0 $ 1.0