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Inventories (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Dec. 31, 2019
Inventory Disclosure [Abstract]      
Raw materials $ 884 $ 547 $ 977
Work in process 60 270 215
Finished goods 53 60 100
Total inventories $ 997 $ 877 $ 1,292