I found the problem.
The javascript function OpenPrototypeSummary(pid) is called via Scriptmanager.RegisterStartupScript.
It seems that the function executes before RadWindow rwPrototypeSummary is loaded.
Fixed the problem by modifying OpenPrototypeSummary(pid) to the following:
function OpenPrototypeSummary(pid) {
var url = '<%= ConvertRelativeUrlToAbsoluteUrl("~/Agency/Authoring/PrototypeSummary.aspx") %>';
url = url + "?pid=" + pid;
//logsafe(url);
setTimeout(function () {
var oWnd = $find("<%= rwPrototypeSummary.ClientID %>");
logsafe(oWnd);
oWnd.set_behaviors(Telerik.Web.UI.WindowBehaviors.Close + Telerik.Web.UI.WindowBehaviors.Move + Telerik.Web.UI.WindowBehaviors.Resize + Telerik.Web.UI.WindowBehaviors.Maximize);
//oWnd.set_behaviors(Telerik.Web.UI.WindowBehaviors.Move + Telerik.Web.UI.WindowBehaviors.Resize + Telerik.Web.UI.WindowBehaviors.Maximize);
oWnd.show();
oWnd.setSize(1024, 850);
oWnd.setUrl(url);
oWnd.minimize();
oWnd.maximize();
oWnd.restore();
oWnd.center();
}, 500);
}