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Restatement of Consolidated Financial Statements - Consolidated Statement of Operations (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
Revenue            
Revenue $ 81,282 $ 56,915 $ 236,523 $ 184,409    
Gross profit 62,856 41,651 183,867 137,112    
Operating expenses            
Sales, general and administrative 22,210 20,182 67,956 65,209    
Total operating expenses 58,161 54,151 168,556 170,162    
Operating income (loss) 4,695 (12,500) 15,311 (33,050)    
Interest income and other income (expense), net   3,554   14,685    
Interest and other income (expense), net 54 968 119 6,964    
Income (loss) before income taxes   (11,532)   (26,086)    
Provision for income taxes 1,073 1,205 3,201 2,330    
Net income (loss) 3,676 $ (12,737) 12,229 $ (28,416)    
Net income (loss) per share:            
Basic (in dollars per share)   $ (0.11)   $ (0.25)    
Diluted (in dollars per share)   $ (0.11)   $ (0.25)    
As originally reported            
Revenue            
Revenue       $ 180,834    
Gross profit       133,537    
Operating expenses            
Sales, general and administrative       64,387    
Total operating expenses       169,340    
Operating income (loss)       (35,803)    
Interest income and other income (expense), net   $ 3,464   14,435    
Interest and other income (expense), net   878   6,714    
Income (loss) before income taxes   (11,622)   (29,089)    
Provision for income taxes   1,157   2,454    
Net income (loss)   $ (12,779)   $ (31,543)    
Net income (loss) per share:            
Basic (in dollars per share)   $ (0.11)   $ (0.28)    
Diluted (in dollars per share)   $ (0.11)   $ (0.28)    
Adjustments            
Revenue            
Revenue       $ 3,575    
Gross profit       3,575    
Operating expenses            
Sales, general and administrative       822    
Total operating expenses       822    
Operating income (loss)       2,753    
Interest income and other income (expense), net   $ 90   250    
Interest and other income (expense), net   90   250    
Income (loss) before income taxes   90   3,003    
Provision for income taxes   48   (124)    
Net income (loss)   $ 42   $ 3,127    
Net income (loss) per share:            
Basic (in dollars per share)   $ 0   $ 0.03    
Diluted (in dollars per share)   $ 0   $ 0.03    
Royalties            
Revenue            
Revenue $ 33,044 $ 16,602 $ 103,813 $ 56,828    
Royalties | As originally reported            
Revenue            
Revenue       53,253    
Royalties | Adjustments            
Revenue            
Revenue       $ 3,575 $ 3,600 $ 3,600