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Commitments and Contingencies - Reinsurance Agreements (Details) - USD ($)
$ in Thousands
 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Commitments and Contingencies Disclosure [Abstract]    
Reinsurance premiums assumed $ 22,827 $ 3,275
Reinsurance premiums ceded (1,614) (3,275)
Claims assumed 20,298 2,959
Claims ceded 0 (422)
Claims-related administrative expenses 2,160 0
Increase in reserves for claims and performance-based arrangements attributable to the Reinsurance Agreement 1,983 2,537
Reserves for claims and performance-based arrangements attributable to the Reinsurance Agreement at the beginning of the period 4,002  
Reserves for claims and performance-based arrangements attributable to the Reinsurance Agreement at the beginning of the period   (502)
Impact of consolidation on payable for claims and performance-based arrangements attributable to the Reinsurance Agreement 0 0
Reinsurance payments paid (received) 7,936  
Reinsurance payments paid (received)   (502)
Payable (receivable) for claims and performance-based arrangements attributable to the Reinsurance Agreement at the end of the period $ (1,951)  
Payable (receivable) for claims and performance-based arrangements attributable to the Reinsurance Agreement at the end of the period   $ 2,537