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Property and Equipment - Additional Information (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
Property Plant And Equipment [Line Items]            
Depreciation expense $ 0.2 $ 0.4 $ 0.7 $ 1.3 $ 1.6 $ 1.0
Automobiles | Selling, General and Administrative Expenses [Member]            
Property Plant And Equipment [Line Items]            
Gain on Sale of Property and Equipment     $ 0.5