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Commitments and Contingencies - Other Information (Details) - USD ($)
$ in Thousands
9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Commitments and Contingencies      
Gross amounts of assets under capital leases $ 1,498   $ 1,501
Capital lease accumulated amortization 1,158   $ 946
Operating lease rent expense $ 4,796 $ 4,929  
Minimum      
Commitments and Contingencies      
Remaining operating and capital lease term 1 year    
Maximum      
Commitments and Contingencies      
Remaining operating and capital lease term 8 years