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Costs Associated with Exit and Restructuring Activities -Additional Information (Details) - USD ($) | 3 Months Ended | 9 Months Ended | 13 Months Ended |  |
--- | --- | --- | --- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Dec. 31, 2020 | Dec. 31, 2017
Restructuring Cost And Reserve [Line Items] |  |  |  |  |  |  |
Restructuring charges | $ 319,000 | $ 1,041,000 | $ 551,000 | $ 1,416,000 |  |  |
Restructuring reserve | 263,000 |  | 263,000 |  | $ 263,000 | $ 1,363,000 |
Workforce Reduction |  |  |  |  |  |  |
Restructuring Cost And Reserve [Line Items] |  |  |  |  |  |  |
Restructuring charges | 319,000 | 33,000 | 582,000 | 440,000 |  |  |
Other Restructuring Activities |  |  |  |  |  |  |
Restructuring Cost And Reserve [Line Items] |  |  |  |  |  |  |
Restructuring reserve | 263,000 |  | 263,000 |  | 263,000 | 9,000 |
September 2020 Plan |  |  |  |  |  |  |
Restructuring Cost And Reserve [Line Items] |  |  |  |  |  |  |
Restructuring charges | 0 |  | 0 |  | 1,397,000 |  |
Restructuring reserve | $ 0 |  | $ 0 |  | $ 0 | $ 512,000 |
September 2020 Plan | Minimum |  |  |  |  |  |  |
Restructuring Cost And Reserve [Line Items] |  |  |  |  |  |  |
Restructuring and related cost, expected cost of plan |  | 3,500,000 |  | 3,500,000 |  |  |
September 2020 Plan | Maximum |  |  |  |  |  |  |
Restructuring Cost And Reserve [Line Items] |  |  |  |  |  |  |
Restructuring and related cost, expected cost of plan |  | $ 4,500,000 |  | $ 4,500,000 |  |  |
June 2016 Plan |  |  |  |  |  |  |
Restructuring Cost And Reserve [Line Items] |  |  |  |  |  |  |
Restructuring and related cost additional cost |  |  |  |  |  |  | $ 1,100,000

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