Goodwill and Intangible Assets - Schedule of Intangible Assets (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020	Sep. 30, 2020	Dec. 31, 2019
Finite-Lived Intangible Assets [Line Items]
Intangible assets, gross	$ 11,627	$ 8,300
Accumulated Amortization	(6,218)	(4,923)
Intangible assets, net	5,409	3,377	$ 10,344	$ 12,381
Developed Technology
Finite-Lived Intangible Assets [Line Items]
Intangible assets, gross	5,007	3,060
Accumulated Amortization	(3,371)	(2,652)
Intangible assets, net	1,636	408
Customer Relationships
Finite-Lived Intangible Assets [Line Items]
Intangible assets, gross	5,730	5,240
Accumulated Amortization	(2,730)	(2,271)
Intangible assets, net	3,000	$ 2,969
In-Process Research And Development
Finite-Lived Intangible Assets [Line Items]
Intangible assets, gross	890
Accumulated Amortization	(118)
Intangible assets, net	$ 772