Debt - Components of Interest Expense on Debt (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Schedule of Long Term and Short Term Debt Instruments [Line Items]
Amortization of discount and cost of issuance of debt			$ 198	$ 149
Total	$ 25	$ 517	1,175	1,620
Other debt
Schedule of Long Term and Short Term Debt Instruments [Line Items]
Contractual interest	24	112	258	308
Amortization of discount and cost of issuance of debt	1	35	60	109
Total	25	147	318	417
Interest expense on Trinity Term Loan: | Loans
Schedule of Long Term and Short Term Debt Instruments [Line Items]
Contractual interest	0	357	719	1,163
Amortization of discount and cost of issuance of debt	0	13	138	40
Total	$ 0	$ 370	$ 857	$ 1,203