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Leases - Reconciliation of the Undiscounted Cash Flows for Each of the First Five Years and Thereafter to Operating Lease Liabilities (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Leases [Abstract]    
2021 (remaining 3 months) $ 1,286  
2022 5,585  
2023 4,001  
2024 2,687  
2025 2,239  
Thereafter 2,317  
Total lease payments 18,115  
Less: imputed interest (1,188)  
Total lease liabilities $ 16,927 $ 19,775