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Related-Party Transactions (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 9 Months Ended 12 Months Ended
Jan. 20, 2021
Sep. 23, 2019
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Redeemable Class A Common Stock              
Related Party Transaction [Line Items]              
Reclassifications of temporary to permanent equity           $ 4.5  
Affiliated Entity              
Related Party Transaction [Line Items]              
Related party transaction, expenses from transactions with related party     $ 0.8 $ 1.4 $ 2.3 2.5  
Affiliated Entity | Redeemable Common Stock Transaction              
Related Party Transaction [Line Items]              
Sale of stock, put right period   6 months          
Affiliated Entity | Identity Verification Services              
Related Party Transaction [Line Items]              
Related party transaction, purchases from related party     $ 0.2   $ 0.5 $ 0.1  
Affiliated Entity | Identity Verification Services | Maximum              
Related Party Transaction [Line Items]              
Related party transaction, purchases from related party       $ 0.1      
Management | Nonrecourse Related-Party Promissory Notes              
Related Party Transaction [Line Items]              
Options outstanding (in shares)             16,345,627
Long-term debt, term             10 years
Long-term debt, term following initial public offering             6 months
Share-based compensation arrangement by share-based payment award, options, outstanding, value             $ 7.2
Proceeds from repayment of promissory notes associated with vested and unvested shares $ 1.2            
Forfeiture of related-party promissory notes (in shares) 370,734            
Management | Nonrecourse Related-Party Promissory Notes | Maximum              
Related Party Transaction [Line Items]              
Related party transaction, rate             3.00%
Management | Nonrecourse Related-Party Promissory Notes | Minimum              
Related Party Transaction [Line Items]              
Related party transaction, rate             2.20%
Chief Executive Officer And Director | Sale of Stock from CEO and Member Of Board of Directors              
Related Party Transaction [Line Items]              
Sale of stock, number of shares issued in transaction (in shares)   737,058          
Sale of stock, price per share (in dollars per share)   $ 6.11          
Sale of stock, consideration received on transaction   $ 4.5          
CEO And Director | Redeemable Common Stock Transaction              
Related Party Transaction [Line Items]              
Related party transaction, expenses from transactions with related party   $ 3.0