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License Agreements (Details)
€ in Millions
1 Months Ended 3 Months Ended 7 Months Ended 9 Months Ended 12 Months Ended 22 Months Ended 43 Months Ended 124 Months Ended 169 Months Ended
Feb. 27, 2018
Oct. 31, 2018
USD ($)
Jun. 30, 2018
USD ($)
Jul. 31, 2017
USD ($)
Apr. 30, 2017
USD ($)
Apr. 30, 2017
EUR (€)
Mar. 31, 2015
USD ($)
Jun. 30, 2009
Sep. 30, 2005
USD ($)
Sep. 30, 2005
EUR (€)
Sep. 30, 2019
USD ($)
Sep. 30, 2018
USD ($)
Dec. 31, 2006
USD ($)
Sep. 30, 2019
USD ($)
Sep. 30, 2019
EUR (€)
Sep. 30, 2018
USD ($)
Sep. 30, 2019
USD ($)
Dec. 31, 2017
USD ($)
Dec. 31, 2015
USD ($)
Sep. 30, 2019
USD ($)
Mar. 31, 2019
USD ($)
Sep. 30, 2019
USD ($)
Sep. 30, 2019
USD ($)
Eisai | License Agreement                                              
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                                              
Period after the date of the first commercial sale of the product for license expiration             10 years                                
Initial license fee paid                         $ 500,000           $ 400,000        
Eisai | License Agreement | Maximum                                              
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                                              
Payments to be made upon achievement of certain clinical and regulatory milestones             $ 22,300,000                                
Duke | License Agreement                                              
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                                              
Nonrefundable, non-creditable payment                                   $ 1,300,000          
Additional payments to be made upon achievement of certain milestones                                   $ 3,800,000          
Termination period                                   60 days          
Collaborative Arrangement                                              
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                                              
Milestone payments that triggered intangible asset recognition                           $ 8,700,000 € 8.0                
Collaborative Arrangement | 3M Company                                              
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                                              
Initial term 5 years                                            
Renewal term 3 years             1 year                              
Termination period 24 months             90 days                              
Funding to purchase capital equipment   $ 9,600,000                                          
Nonrefundable, non-creditable payment                                 $ 11,300,000         $ 28,300,000  
Collaborative Arrangement | Ipsen                                              
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                                              
Nonrefundable, non-creditable payment                                             $ 13,000,000.0
Milestone payments that triggered intangible asset recognition         $ 8,700,000 € 8.0                                  
Royalty rate (as a percent)                 5.00% 5.00%                          
Royalty expense                     $ 2,300,000 $ 1,400,000   $ 5,900,000   $ 3,200,000              
Collaborative Arrangement | Ipsen | Maximum                                              
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                                              
Additional payments to be made upon achievement of certain development and commercialization milestones                 $ 26,200,000 € 24.0                          
Collaborative Arrangement | Ipsen | Minimum                                              
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                                              
Period after the date of the first commercial sale of the product for license expiration                 10 years 10 years                          
Collaborative Arrangement | Ipsen | License Agreement                                              
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                                              
Litigation settlement, amount awarded to other party     $ 10,000,000.0                                        
Litigation settlement interest     800,000                                        
License agreement, obligation to pay     5,000,000.0                                        
Litigation settlement, expense     10,800,000                                        
License agreement, upfront payment received     10,000,000.0                                        
License agreements, upfront payment received, aggregate     $ 40,000,000.0                                        
Collaborative Arrangement | Eisai                                              
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                                              
Nonrefundable, non-creditable payment                                         $ 1,000,000.0    
Collaborative Arrangement | Duke                                              
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                                              
Nonrefundable, non-creditable payment                                       $ 500,000      
Collaborative Arrangement | Teijin Agreement                                              
Collaborative Arrangement and Arrangement Other than Collaborative [Line Items]                                              
License agreement, upfront payment received       $ 10,000,000.0                                      
Aggregate amount if regulatory and sales milestones are achieved       $ 40,000,000.0