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Intangible Assets and Goodwill (Details 5) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Estimated future amortization expense of intangible assets    
2021 (remaining three months) $ 4,010  
2022 14,508  
2023 13,491  
2024 11,180  
2025 5,180  
Thereafter 2,862  
Finite-lived intangible assets 51,231  
In-process research and development 11,200  
Intangible assets, net $ 62,431 $ 36,487