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Debt (Details) - USD ($)
1 Months Ended 9 Months Ended 12 Months Ended
Jul. 30, 2021
Apr. 30, 2020
Mar. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Debt Instrument [Line Items]                
Proceeds from borrowing on credit facilities       $ 0 $ 64,282,000 $ 64,563,000 $ 0 $ 0
Loan received from Small Business Administration's Paycheck Protection Program   $ 8,100,000            
Repayments of lines of credit       38,124,000 $ 26,439,000 26,439,000 $ 0 $ 0
Repayments of small business administration's paycheck protection program $ 8,100,000              
Final termination payment 900,000              
Accelerated unamortized debt issuance costs 400,000              
Debt outstanding       $ 0   $ 38,124,000    
Line of Credit | Variable Rate Revolving Line Of Credit                
Debt Instrument [Line Items]                
Proceeds from borrowing on credit facilities     $ 11,400,000          
Line of Credit | Variable Rate Growth Capital Advance Components                
Debt Instrument [Line Items]                
Proceeds from borrowing on credit facilities     15,000,000          
Line of Credit | Subordinated Credit Facility                
Debt Instrument [Line Items]                
Proceeds from borrowing on credit facilities     $ 30,000,000          
Repayments of lines of credit $ 30,000,000