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Commitments and Contingencies - Additional Information (Details) - USD ($) $ in Millions | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2020 | Sep. 30, 2020 | Mar. 31, 2020
Pfreundschuh |  |  |
Commitments And Contingent Liabilities [Line Items] |  |  |
Employee termination cost | $ 0.7 |  |
IIA |  |  |
Commitments And Contingent Liabilities [Line Items] |  |  |
Royalty amount payable |  |  | $ 6.6
Maximum percentage of commitment to continue employment of research and development jobs |  | 75.00% |
Maximum term for commitment to continue employment of research and development jobs |  | 3 years |

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