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Commitments and Contingencies - Reinsurance Agreements (Details) - USD ($)
$ in Thousands
 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
Commitments and Contingencies Disclosure [Abstract]        
Reinsurance premiums assumed $ 17,576 $ 0    
Reinsurance premiums ceded 0 0    
Claims assumed 16,863 0    
Claims ceded 0 0    
Claims-related administrative expenses 545 0    
Increase in reserves for claims and performance-based arrangements attributable to the Reinsurance Agreement 168 0    
Reserves for claims and performance-based arrangements attributable to the Reinsurance Agreement at the beginning of the period     $ 4,002 $ 0
Impact of consolidation on payable for claims and performance-based arrangements attributable to the Reinsurance Agreement 0 0    
Reinsurance payments paid (received) 7,506      
Reinsurance payments paid (received)   0    
Receivable for claims and performance-based arrangements attributable to the Reinsurance Agreement at the end of the period $ (3,336) $ 0