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Commitments and Contingencies - Narratives (Details) $ in Thousands | 1 Months Ended | 3 Months Ended | 9 Months Ended |
--- | --- | --- | --- | ---
Apr. 30, 2021 USD ($) | Mar. 31, 2021 USD ($) | Jan. 31, 2019 | Oct. 31, 2018 | Sep. 30, 2020 USD ($) | Mar. 31, 2020 USD ($) | Sep. 30, 2021 USD ($) | Sep. 30, 2020 USD ($) | Sep. 30, 2018 unit
Loss Contingencies |  |  |  |  |  |  |  |  |
Operating lease contract term |  |  | 9 years 11 months |  |  |  |  |  |
Gain on termination of operating lease |  |  |  |  |  |  | $ (12) | $ 160 |
Operating lease rent free period |  |  | 18 months |  |  |  |  |  |
Imperial (Forest House) Limited |  |  |  |  |  |  |  |  |
Loss Contingencies |  |  |  |  |  |  |  |  |
Gain on termination of operating lease |  |  |  |  | $ 1,300 |  |  |  |
Manufacturing Space in Enfield, United Kingdom |  |  |  |  |  |  |  |  |
Loss Contingencies |  |  |  |  |  |  |  |  |
Gain on termination of operating lease |  | $ 100 |  |  |  |  |  |  |
Lease termination fee expense |  | 200 |  |  |  |  |  |  |
Office and Manufacturing Space in Rockville, Maryland |  |  |  |  |  |  |  |  |
Loss Contingencies |  |  |  |  |  |  |  |  |
Gain on termination of operating lease | $ 2,000 | 2,000 |  |  |  |  |  |  |
Gain on sale of leased assets, net, operating leases |  | $ 2,300 |  |  |  |  |  |  |
Impairment of leasehold |  |  |  |  |  |  | $ 2,400 |  |
Building | Imperial (Forest House) Limited |  |  |  |  |  |  |  |  |
Loss Contingencies |  |  |  |  |  |  |  |  |
Operating lease contract term |  |  |  |  |  |  | 10 years |  |
Building | Manufacturing Space in Enfield, United Kingdom |  |  |  |  |  |  |  |  |
Loss Contingencies |  |  |  |  |  |  |  |  |
Operating lease contract term |  |  |  |  |  |  |  |  | 15 years
Number of units | unit |  |  |  |  |  |  |  |  | 3
Building | Office Space In Rockville, Maryland |  |  |  |  |  |  |  |  |
Loss Contingencies |  |  |  |  |  |  |  |  |
Gain on termination of operating lease |  |  |  |  |  | $ 200 |  |  |
Operating lease rent free period |  |  |  | 5 years |  |  |  |  |
Additional Space | Imperial (Forest House) Limited |  |  |  |  |  |  |  |  |
Loss Contingencies |  |  |  |  |  |  |  |  |
Operating lease contract term |  |  |  |  |  |  | 15 months |  |

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