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Commitment and Contingencies - Schedule of Put Option Rollforward (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Jun. 30, 2021
Dec. 31, 2020
Jun. 30, 2020
Dec. 31, 2019
Separate Account, Liability [Roll Forward]                
Fair value adjustments during the period     $ 4,777 $ 3,924        
Five-year warrants                
Separate Account, Liability [Roll Forward]                
Beginning balance $ 20,843 $ 12,488 20,843 12,488 $ 18,350 $ 14,205 $ 10,722 $ 0
Initial recognition of put option liability 0 0 0 9,472        
Fair value adjustments during the period 2,493 1,766 6,638 3,016        
Ending balance $ 20,843 $ 12,488 $ 20,843 $ 12,488