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Long-Term Debt and Other Financings - Novartis Note (Details) - USD ($) $ in Thousands |  | 1 Months Ended | 3 Months Ended | 6 Months Ended | 9 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | --- | --- | --- | --- | ---
Oct. 21, 2020 | Jun. 30, 2021 | May 31, 2005 | Sep. 30, 2021 | Sep. 30, 2020 | Jun. 30, 2021 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2017 | Dec. 31, 2015 | Dec. 31, 2020 | Sep. 30, 2015
Long-term debt |  |  |  |  |  |  |  |  |  |  |  |
Revenue from contracts with customers |  |  |  | $ 550 | $ 200 |  | $ 1,094 | $ 753 |  |  |  |
Loss on extinguishment of debt |  |  |  |  |  |  | (300) |  |  |  |  |
Novartis Note [Member] |  |  |  |  |  |  |  |  |  |  |  |
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 |  |  |  |  |  |  |  |  |
Amount by which note will be reduced upon achievement of specified milestones |  |  |  |  |  |  |  |  |  |  |  | $ 7,300
Reduction in debt obligation | $ 7,300 | $ 9,100 |  |  |  |  |  |  |  |  |  |
Debt amount |  |  |  | 0 |  |  | 0 |  |  |  | $ 9,100 |
Loss on extinguishment of debt |  |  |  |  |  | $ 0 |  |  |  |  |  |
Novartis Note [Member] | Six-month LIBOR [Member] |  |  |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |  |  |
Basis spread on variable rate |  |  | 2.00% |  |  |  |  |  |  |  |  |
Novartis International [Member] | License Agreement [Member] |  |  |  |  |  |  |  |  |  |  |  |
Long-term debt |  |  |  |  |  |  |  |  |  |  |  |
Revenue from contracts with customers | 25,000 |  |  | $ 0 | $ 0 |  | $ 0 | $ 0 | $ 10,000 | $ 37,000 |  |
Cash payment received | $ 17,700 |  |  |  |  |  |  |  |  | $ 37,000 |  |

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