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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