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Stock-Based Compensation - Options (Details) - USD ($) $ / shares in Units, shares in Thousands | 3 Months Ended | 9 Months Ended | 12 Months Ended
--- | --- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2020
Aggregate Intrinsic Value [Abstract] |  |  |  |  |
Closing price (in dollars per share) | $ 8.33 |  | $ 8.33 |  |
Options |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |
Compensation costs related to unvested stock options not yet recognized | $ 500,000 |  | $ 500,000 |  |
Value of estimated forfeitures |  |  | $ 90,000 |  |
Weighted-average period of amortization |  |  | 1 year 9 months 18 days |  |
Number of Options Outstanding [Roll Forward] |  |  |  |  |
Options outstanding, beginning of period (in shares) |  |  | 1,885 |  |
Granted (in shares) | 0 | 0 | 0 | 0 |
Exercised (in shares) |  |  | (482) |  |
Options outstanding, end of period (in shares) | 1,403 |  | 1,403 |  | 1,885
Options vested and unvested options expected to vest, net of forfeitures, end of period (in shares) | 1,397 |  | 1,397 |  |
Options exercisable, end of period (in shares) | 1,081 |  | 1,081 |  |
Weighted-average Exercise Price [Roll Forward] |  |  |  |  |
Options outstanding, beginning of period (in dollars per share) |  |  | $ 4.42 |  |
Exercised (in dollars per share) |  |  | 3.30 |  |
Options outstanding, end of period (in dollars per share) | $ 4.80 |  | 4.80 |  | $ 4.42
Options vested and unvested options expected to vest, net of forfeitures (in dollars per share) | 4.81 |  | 4.81 |  |
Options exercisable, end of period (in dollars per share) | $ 5.13 |  | $ 5.13 |  |
Weighted average Remaining Contractual Life [Abstract] |  |  |  |  |
Options outstanding |  |  | 5 years 9 months 10 days |  | 6 years 2 months 1 day
Options vested and unvested options expected to vest, net of forfeitures, end of period |  |  | 5 years 9 months 7 days |  |
Option exercisable, end of period |  |  | 5 years 1 month 28 days |  |
Aggregate Intrinsic Value [Abstract] |  |  |  |  |
Options outstanding, beginning of period |  |  | $ 9,713,000 |  |
Options outstanding, end of period | $ 5,094,000 |  | 5,094,000 |  | $ 9,713,000
Options vested and expected to vest, end of period | 5,064,000 |  | 5,064,000 |  |
Options exercisable, end of period | $ 3,605,000 |  | $ 3,605,000 |  |

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