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Related Party Transactions - Expenses related to Related Party which were Settled in Cash (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Reimbursable Costs Under Paragon Agreement | Research and development |  |  |
Related Party Transaction [Line Items] |  |  |
Reimbursable costs | $ 37.1 | $ 0.0 | $ 0.0

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