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Commitments and Contingencies - Licensor Expense Reimbursement (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Licensor Expense Reimbursement |  |  |
Commitments and contingencies |  |  |
Expense for prosecution and maintenance of patent rights | $ 13.1 | $ 13.5 | $ 14.2

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