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Local tissue-based results (if already existing) from next-generation sequencing (NGS) or polymerase chain reaction (PCR) tests performed in Clinical Laboratory Improvement Amendments (CLIA) -certified or equivalent laboratories, or results from commercially available PCR or NGS tests\n* Cohorts 1 and 2: Bacillus Calmette-Guérin (BCG) experienced, or participants with no BCG experience because BCG was not available as a treatment option in the participant's location within the previous 2 years and is currently unavailable. Participants who received an abbreviated course of BCG due to toxicity are still eligible\n* Cohort 1 only: Refuses or is not eligible for radical cystectomy (RC)\n* Cohorts 2 and 4: Willing and eligible for RC\n\nPart 4:\n\n* Have histologically confirmed diagnosis of recurrent Intermediate-risk-non-muscle invasive bladder cancer (IR-NMIBC) Ta LG tumors\n* Must not have undergone tumor debulking or selective ablation of visible lesions; partial tumor biopsy to confirm diagnosis and provide tissue for biomarker testing is permitted as long as remaining tumor is at least 5 millimeter (mm) in size\n* Must submit tissue and urine for FGFR testing\n* Can have a prior or concurrent second malignancy which natural history or treatment is unlikely to interfere with any study endpoints of safety or the efficacy of the study treatment\n\nExclusion Criteria:\n\nParts 1-3:\n\n* Concurrent extra-vesical (that is, urethra, ureter, renal pelvis) transitional cell carcinoma of the urothelium\n* Prior treatment with an pan-fibroblast growth factor receptor (FGFR) inhibitor\n* Received pelvic radiotherapy \\\u003C=6 months prior to the planned start of study treatment. If received pelvic radiotherapy greater than (\\>)6 months prior to the start of study treatment, there must be no cystoscopic evidence of radiation cystitis\n* Presence of any bladder or urethral anatomic feature that in the opinion of the investigator may prevent the safe use of Erdafitinib intravesical delivery system\n* Indwelling urinary catheter. Intermittent catheterization is acceptable\n\nPart 4:\n\n* Histologically confirmed diagnosis of T1 NMIBC, HR NMIBC (HG\u002FG2 or HG\u002FG3 or CIS) or MIBC, locally advanced, non-resectable, or metastatic urothelial carcinoma at any time prior to enrollment. 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