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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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Carrying value as of the balance sheet date of obligations incurred through that date and payable for royalties.

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