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Revenue - Narrative (Details) - USD ($)
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2021
Mar. 31, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Jun. 30, 2020
Revenue from Contract with Customer [Abstract]            
Advance Medicare payments to provide relief from economic impacts of COVID-19           $ 29,700,000
Revenue increase (decrease) due to changes in estimated transaction price due to contractual adjustments $ 7,600,000     $ 16,600,000    
Revenue recognized due to expanded local coverage determination for which revenue was previously constrained   $ 6,800,000        
Capitalized costs incurred to obtain or fulfill contract $ 0     $ 0    
Performance obligation estimate            
Revenue and Concentration Risk [Line Items]            
Change in earnings per share (dollars per share) $ 0.07     $ 0.16    
Revenues | Customer concentration | Medicare            
Revenue and Concentration Risk [Line Items]            
Concentration risk (percent) 17.00%   16.00% 17.00% 15.00%