Summary of Significant Accounting Policies - Additional Information (Details) - USD ($)	3 Months Ended		9 Months Ended		12 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Finite-Lived Intangible Assets [Line Items]
Impairment of goodwill	$ 0	$ 0	$ 0	$ 0
Allowance for doubtful accounts	802,000		802,000		$ 1,296,000
Charges for excess and obsolete inventory included in cost of goods sold	1,004,000	$ 1,239,000	2,229,000	$ 2,805,000
Inventory reserve	18,833,000		18,833,000		16,771,000
Unbilled accounts receivable	3,181,000		$ 3,181,000		$ 3,273,000
Patents
Finite-Lived Intangible Assets [Line Items]
Amortization period			17 years
Estimated useful life			12 years 7 months 6 days		13 years 3 months 18 days
Developed Technology
Finite-Lived Intangible Assets [Line Items]
Estimated useful life			12 years
Customer Relationships
Finite-Lived Intangible Assets [Line Items]
Estimated useful life			3 years
Other Intangibles
Finite-Lived Intangible Assets [Line Items]
Estimated useful life			3 years
Other Current Assets
Finite-Lived Intangible Assets [Line Items]
Deferred IPO costs	$ 2,977,000		$ 2,977,000		$ 0