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Collaboration Agreements (Tables)
 3 Months Ended
Mar. 31, 2020
Research and Development [Abstract]  
Schedule of Activity in Contract Liabilities
The following table presents a summary of the activity in the Company's contract liabilities during the three months ended March 31, 2020 (in thousands):

Opening balance, January 1, 2020
$
(172
)
Revenue from performance obligations satisfied during reporting period
29

Closing balance, March 31, 2020
$
(143
)