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Condensed Consolidated Balance Sheets (Parenthetical) - USD ($)
$ in Millions
Sep. 30, 2021
Dec. 31, 2020
Statement of Financial Position [Abstract]    
Accounts Receivable, Allowance for Credit Loss, Current $ 1.5 $ 1.6
Preferred stock, par value (in dollars per share) $ 0.0001 $ 0.0001
Preferred Stock, Shares Authorized 5,000,000 5,000,000
Preferred stock, shares issued (in shares) 0 0
Common stock, par value (in dollars per share) $ 0.0001 $ 0.0001
Common stock, authorized (in shares) 100,000,000 100,000,000
Common stock, shares issued (in shares) 16,687,328 16,573,246