Annual report pursuant to Section 13 and 15(d)

Commitments and Contingencies - Contingencies (Details)

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Commitments and Contingencies - Contingencies (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Royalty Arrangement [Member]    
Registration Payment Arrangement [Line Items]    
Sales and other tax exposure included in accrued liabilities $ 326 $ 628