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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