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Long-Term Debt and Other Financings - Novartis Note (Details) - USD ($) $ in Thousands |  | 1 Months Ended | 3 Months Ended | 9 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | --- | --- | --- | ---
Oct. 21, 2020 | May 31, 2005 | Sep. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2020 | Sep. 30, 2019 | Dec. 31, 2017 | Dec. 31, 2015 | Dec. 31, 2019 | Sep. 30, 2015
Long-term debt |  |  |  |  |  |  |  |  |  |
Debt amount |  |  | $ 29,952 |  | $ 29,952 |  |  |  |  |
Revenue from contracts with customers |  |  | $ 200 | $ 8,525 | $ 753 | $ 17,176 |  |  |  |
Novartis Note |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |
Research and development expenses funded through loan facility, maximum (as a percent) |  | 75.00% |  |  |  |  |  |  |  |
Maximum borrowing capacity under loan agreement |  | $ 50,000 |  |  |  |  |  |  |  |
Interest rate at period end (as a percent) |  |  | 2.41% |  | 2.41% |  |  |  |  |
Amount by which note will be reduced upon achievement of specified milestones |  |  |  |  |  |  |  |  |  | $ 7,300
Debt amount |  |  | $ 16,200 |  | $ 16,200 |  |  |  | $ 15,900 |
Novartis Note | Six-month LIBOR |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |
Basis spread on variable rate |  | 2.00% |  |  |  |  |  |  |  |
Subsequent Event | Novartis Note |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |
Reduction in debt obligation | $ 7,300 |  |  |  |  |  |  |  |  |
Novartis International | License Agreement |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |
Revenue from contracts with customers |  |  | $ 0 | $ 0 | $ 0 | $ 0 | $ 10,000 | $ 37,000 |  |
Novartis International | License Agreement | Subsequent Event |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |
Revenue from contracts with customers | $ 25,000 |  |  |  |  |  |  |  |  |

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