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Summary of Significant Accounting Policies - Contract Fulfillment Assets (Details) - USD ($) $ in Thousands | Sep. 30, 2021 | Dec. 31, 2020
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Intake Costs |  |
Contract With Customer, Asset And Liabilities [Line Items] |  |
GROSS CARRYING AMOUNT | $ 71,540 | $ 63,721
ACCUMULATED AMORTIZATION | (41,246) | (33,352)
NET CARRYING AMOUNT | 30,294 | 30,369
Commissions |  |
Contract With Customer, Asset And Liabilities [Line Items] |  |
GROSS CARRYING AMOUNT | 107,298 | 91,069
ACCUMULATED AMORTIZATION | (48,708) | (38,787)
NET CARRYING AMOUNT | $ 58,590 | $ 52,282

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