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Related Party Transactions (Details) - USD ($)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Founding Members of Mediscan      
Related Party Transaction [Line Items]      
Rent expense     $ 300,000
Corporate Joint Venture      
Related Party Transaction [Line Items]      
Percent ownership in joint venture unit 68.00%    
Revenue from related parties $ 16,000,000.0 $ 25,000,000.0 $ 19,400,000
Receivable balance with joint venture 1,700,000 1,700,000  
Due to joint venture 200,000 500,000  
Chief Executive Officer      
Related Party Transaction [Line Items]      
Due to joint venture 0 0  
Expenses from purchase 200,000 0  
Board of Directors      
Related Party Transaction [Line Items]      
Account receivable due from related parties   $ 0  
Employee | Earnout Notes Payable      
Related Party Transaction [Line Items]      
Notes payable $ 4,900,000