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Commitments and Contingencies - Lease Maturity (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Jan. 01, 2021
Dec. 31, 2020
Sep. 30, 2020
Commitments and Contingencies Disclosure [Abstract]        
Remainder of 2021       $ 1,156
2022       4,669
2023       4,700
2024       4,563
2025       4,693
Thereafter       18,209
Total lease payments       37,990
Less: imputed interest       (9,331)
Present value of lease liabilities   $ 29,600   28,659
Less: current portion of lease liabilities $ (2,726)   $ 0 (2,726)
Total lease liabilities, noncurrent $ 25,933   $ 0 $ 25,933