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Research Funding (Details) - USD ($) $ in Thousands | 1 Months Ended | 3 Months Ended | 9 Months Ended | 41 Months Ended |
--- | --- | --- | --- | --- | ---
Sep. 30, 2020 | May 31, 2019 | Mar. 31, 2018 | Dec. 31, 2017 | May 31, 2017 | Sep. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2020 | Feb. 28, 2017
Research and Development [Abstract] |  |  |  |  |  |  |  |  |  |  |
Grants awarded | $ 8,600 |  |  |  |  | $ 8,600 |  | $ 8,600 |  | $ 8,600 | $ 12,200
Funding of grant award |  |  |  |  | $ 5,700 |  |  |  |  | $ 8,200 |
Milestone payment received on grant award |  |  |  | $ 1,900 |  |  |  |  |  |  |
Progress payment received on grant award |  |  | $ 300 |  |  |  |  |  |  |  |
Research and Development Arrangement with Federal Government, Customer Funding to Offset Costs Incurred | $ 46 | $ 200 |  |  |  |  |  |  |  |  |
Amortization of accrued grant funding to offset expense |  |  |  |  |  | $ 300 | $ 700 | $ 1,600 | $ 2,000 |  |

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