Property and Equipment - Schedule of Property and Equipment (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020	Dec. 31, 2019
Property Plant And Equipment [Line Items]
Property and equipment, gross	$ 4,754	$ 5,653	$ 5,763
Accumulated depreciation	(2,724)	(3,126)	(1,619)
Total property and equipment, net	2,030	2,527	4,144
Lasers
Property Plant And Equipment [Line Items]
Property and equipment, gross	3,151	3,194	3,307
Machinery and Equipment
Property Plant And Equipment [Line Items]
Property and equipment, gross	812	834	809
Computer Hardware and Software
Property Plant And Equipment [Line Items]
Property and equipment, gross	353	353	348
Construction in Progress
Property Plant And Equipment [Line Items]
Property and equipment, gross	209	51	23
Leasehold Improvements
Property Plant And Equipment [Line Items]
Property and equipment, gross	119	119	119
Automobiles
Property Plant And Equipment [Line Items]
Property and equipment, gross	62	1,054	1,109
Furniture and Fixtures
Property Plant And Equipment [Line Items]
Property and equipment, gross	$ 48	$ 48	$ 48

Amount of accumulated depreciation, depletion and amortization for physical assets used in the normal conduct of business to produce goods and services.

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Amount before accumulated depreciation, depletion and amortization of physical assets used in the normal conduct of business and not intended for resale. Examples include, but are not limited to, land, buildings, machinery and equipment, office equipment, and furniture and fixtures.

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