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Commitments and Contingencies - Rent Expense and Lease Information (Details)
$ in Millions
12 Months Ended
Dec. 31, 2020
USD ($)
ft²
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Property, Plant and Equipment [Line Items]      
Rent expense, including real estate taxes $ 0.4 $ 0.3  
Rent expense, including real estate taxes     $ 1.7
Vendor Financing Arrangement      
Property, Plant and Equipment [Line Items]      
Vendor financing arrangement, outstanding balance $ 0.4    
Exton Facility      
Property, Plant and Equipment [Line Items]      
Leased office space | ft² 11,000