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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, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2020 | Feb. 28, 2017
Research and Development [Abstract] |  |  |  |  |  |  |  |  |  |  |
Grants awarded |  |  |  |  |  |  |  |  |  |  | $ 12,200
Total funding amount awarded |  |  |  |  |  |  |  |  |  |  | $ 8,600
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 |  |  |  |  |  | $ 0 | $ 300 | $ 0 | $ 1,600 |  |

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- Definition The amount of customer funding recorded as an offset to costs incurred for a fixed-price, best-efforts research and development cost-sharing arrangement with the Federal Government. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 912 -SubTopic 730 -Section 25 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=6472174&loc=d3e58812-109433 + Details
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