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Basis of Presentation, Summary of Significant Accounting Policies and Change in Accounting Principles - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Dec. 31, 2021
Accounting Policies [Abstract]      
Research and development costs $ 4.1 $ 3.4  
Right of offset, percentage of accounts receivable netted against claims payable 35.00%   42.00%
Right of offset, percentage of accounts receivable, net eligible for net basis settlement 39.00%