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Commitments and Contingencies - Licensor Expense Reimbursements (Details) - USD ($) $ in Millions | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Licensor Expense Reimbursements |  |  |  |
Commitments and contingencies |  |  |  |
Expense for prosecution and maintenance of patent rights | $ 1.5 | $ 2.2 | $ 6.1 | $ 6.1

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