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U.S. Department of Defense (DoD) expense reimbursement contract (Details) - Other Transaction Authority for Prototype Agreement - USD ($)
$ in Millions
1 Months Ended 3 Months Ended
Jul. 31, 2020
Mar. 31, 2022
Mar. 31, 2021
Dec. 31, 2021
May 31, 2021
Unusual or Infrequent Item, or Both [Line Items]          
Grants Receivable $ 13.3       $ 17.6
Payment period of reimbursement contract 30 days        
Contra-research and development expense   $ 0.6 $ 4.0    
Prepaid expenses and other current assets   0.0   $ 2.7  
Deferred research obligation liability   0.6   2.0  
Grant expected to be received   0.8   $ 1.6  
Grants receivable current   $ 0.2