Revenue - Schedule of Disaggregation of Revenue (Details)	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Disaggregation Of Revenue [Line Items]
Disaggregation of revenue	100.00%	100.00%	100.00%	100.00%
Minerva ES
Disaggregation Of Revenue [Line Items]
Disaggregation of revenue	46.10%	45.00%	46.80%	59.50%
Genesys HTA
Disaggregation Of Revenue [Line Items]
Disaggregation of revenue	31.20%	35.40%	32.00%	26.20%
Symphion
Disaggregation Of Revenue [Line Items]
Disaggregation of revenue	22.00%	18.70%	20.20%	13.60%
Other
Disaggregation Of Revenue [Line Items]
Disaggregation of revenue	0.70%	0.90%	1.00%	0.70%