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Equity Method Investments - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Mar. 19, 2021
Sep. 30, 2021
Sep. 30, 2021
Schedule Of Equity Method Investments [Line Items]      
Equity method investment   $ 6,408 $ 6,408
Share in net loss of equity method investment   342 5,865
Related party contract liability, noncurrent portion   12,273 12,273
Joint Venture      
Schedule Of Equity Method Investments [Line Items]      
Percentage of equity stake received 45.00%    
Related party transaction. transaction price $ 12,300    
Related party contract liability, noncurrent portion   $ 12,300 $ 12,300
JV Agreement with Genesis MedTech | Share Subscription Agreement      
Schedule Of Equity Method Investments [Line Items]      
Ordinary shares issued 54,900    
Equity percentage 55.00%    
Cash contribution from exchange of equity $ 15,000    
Percentage of cash contribution received from exchange of equity upon signing of agreement 50.00%    
Percentage of cash contribution receivable from exchange of equity within one year 50.00%    
JV Agreement with Genesis MedTech | License Agreement      
Schedule Of Equity Method Investments [Line Items]      
Ordinary shares issued 45,000    
Equity percentage 45.00%