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Acquisitions, Acquired Intangible Assets, and Goodwill - Amortization (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Dec. 31, 2019
Finite-Lived Intangible Assets, Net, Amortization Expense, Fiscal Year Maturity [Abstract]      
Remainder of 2021 $ 156    
2022 559 $ 692  
2023 428 546  
2024 199 422  
2025 and thereafter 769    
Net carrying amount $ 2,111 $ 2,231 $ 408