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Collaboration and Licensing Revenue - Summary of Deferred Revenue (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Contract With Customer, Asset And Liability [Line Items]    
Deferred revenue $ 26,716 $ 25,823
Current portion of deferred revenue 3,693 2,800
Long-term portion of deferred revenue 23,023 23,023
Collaboration and licensing agreements    
Contract With Customer, Asset And Liability [Line Items]    
Deferred revenue 23,040 23,420
Prepaid product and service revenues    
Contract With Customer, Asset And Liability [Line Items]    
Deferred revenue 3,493 2,126
Other    
Contract With Customer, Asset And Liability [Line Items]    
Deferred revenue $ 183 $ 277