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Licensing and Other Arrangements - Sale of Future Revenue Streams (Details) $ in Thousands |  | 3 Months Ended | 9 Months Ended |
--- | --- | --- | --- | ---
Dec. 21, 2016 USD ($) agreement period | Sep. 30, 2023 USD ($) | Sep. 30, 2022 USD ($) | Sep. 30, 2023 USD ($) | Sep. 30, 2022 USD ($) | Dec. 31, 2022 USD ($)
Licensing and other arrangements |  |  |  |  |  |
Unearned revenue recognized under units-of-revenue method |  |  |  | $ (1,575) | $ (1,241) |
Revenue recognized under units-of-revenue method |  | $ 605 | $ 426 | 1,575 | 1,241 |
Unearned revenue recognized under units-of-revenue method, current |  | 2,078 |  | 2,078 |  | $ 1,899
Unearned revenue recognized under units-of-revenue method, noncurrent |  | 7,796 |  | 7,796 |  | 9,550
HealthCare Royalty Partners II, L.P. | Royalty Sale Agreements |  |  |  |  |  |
Licensing and other arrangements |  |  |  |  |  |
Number of agreements | agreement | 2 |  |  |  |  |
Unearned revenue recognized under units-of-revenue method | $ 18,000 |  |  |  |  |
Revenue recognized under units-of-revenue method |  | 600 | $ 400 | 1,600 | $ 1,200 |
Unearned revenue recognized under units-of-revenue method, current |  | 2,100 |  | 2,100 |  | 1,900
Unearned revenue recognized under units-of-revenue method, noncurrent |  | $ 7,800 |  | $ 7,800 |  | $ 9,600
HealthCare Royalty Partners II, L.P. | First Royalty Sale Agreement |  |  |  |  |  |
Licensing and other arrangements |  |  |  |  |  |
Cash payment received | 6,500 |  |  |  |  |
Eligible potential additional payments receivable upon achievement of specified net sales milestones in future years | $ 4,000 |  |  |  |  |
Number of milestone periods | period | 3 |  |  |  |  |
HealthCare Royalty Partners II, L.P. | Second Royalty Sale Agreement |  |  |  |  |  |
Licensing and other arrangements |  |  |  |  |  |
Cash payment received | $ 11,500 |  |  |  |  |

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