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Stockholders Equity (Narrative) (Details)
$ / shares in Units, $ in Millions
1 Months Ended 9 Months Ended 12 Months Ended
Jul. 02, 2021
USD ($)
$ / shares
shares
Jun. 22, 2021
Jul. 31, 2020
USD ($)
$ / shares
shares
Aug. 31, 2019
USD ($)
May 31, 2019
USD ($)
Jan. 31, 2019
USD ($)
Sep. 30, 2021
$ / shares
shares
Dec. 31, 2016
USD ($)
$ / shares
shares
Dec. 31, 2020
$ / shares
May 31, 2016
Temporary Equity [Line Items]                    
Temporary equity share price (in dollars per share) | $ / shares             $ 0.01   $ 0.01  
Conversion of convertible preferred stock (in shares) 11,929,584                  
Conversion ratio             39.548      
Reverse stock split   0.025                
Warrants to purchase common stock                    
Temporary Equity [Line Items]                    
Number of common shares converted from warrants 108,406           716,131      
Warrant exercise price | $ / shares             $ 2.39      
IPO                    
Temporary Equity [Line Items]                    
Shares issued 8,050,000                  
Share price | $ / shares $ 18.00                  
Payment of stock issuance costs | $ $ 1.6                  
Net proceeds | $ $ 133.2                  
Underwriters option                    
Temporary Equity [Line Items]                    
Shares issued 1,050,000                  
Series G Preferred Shares                    
Temporary Equity [Line Items]                    
Shares issued     62,500,000         72,125,000    
Temporary equity share price (in dollars per share) | $ / shares     $ 0.80         $ 0.80    
Proceeds from Issuance of Redeemable Convertible Preferred Stock | $     $ 49.8 $ 24.7 $ 24.7 $ 24.7   $ 57.4    
Conversion ratio             15.819     1
Series G Preferred Shares | Operational milestone closing                    
Temporary Equity [Line Items]                    
Proceeds from Issuance of Redeemable Convertible Preferred Stock | $               $ 35.3