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License Revenue (Tables)
12 Months Ended
Dec. 31, 2022
License Revenue [Abstract]  
Schedule of contract liability
Balance at January 1, 2021  $4,216 
Additions(1)   4,542 
Deductions for performance obligations satisfied:     
In current period   (1,721)
In prior period   (1,874)
Balance at December 31, 2021   5,163 
Deductions for performance obligations satisfied:     
In current period   (2,514)
Balance at December 31, 2022  $2,649 
(1) Milestone payment of $6.0 million (or $4.5 million net of withholding taxes and other fees and royalties).