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Revenue Recognition - Schedule of Changes in Deferred Revenue from Contract Liabilities (Parenthetical) (Details) - USD ($)
$ in Thousands
3 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2021
Dec. 31, 2020
Disaggregation Of Revenue [Line Items]      
Remaining deferred revenue recognized   $ 2,196  
License Agreement      
Disaggregation Of Revenue [Line Items]      
Deferral of revenue     $ 9,505
Remaining deferred revenue recognized $ 6,754