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Goodwill and Intangible Assets - Future Amortization Expense of Finite-lived Intangible Assets (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Goodwill and Intangible Assets Disclosure [Abstract]    
2021 $ 379  
2022 1,239  
2023 389  
2024 37  
Net intangible assets, end of year $ 2,044 $ 3,185