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Revenue (Details 2) - USD ($) $ in Thousands | 9 Months Ended | 12 Months Ended
--- | --- | ---
Sep. 30, 2021 | Dec. 31, 2020
Contract Assets |  |
Revenue recognized that was included in the contract liability balance at the beginning of the period | $ 0 | $ 0
Increase due to cash received, excluding amounts recognized as revenue during the period | 0 | 0
Transferred to receivables from contract assets recognized at the beginning of the period | (47) | (21)
Increase due to additional unamortized discounts | 97 | 158
Contract Liabilities |  |
Revenue recognized that was included in the contract liability balance at the beginning of the period | (986) | (976)
Increase due to cash received, excluding amounts recognized as revenue during the period | 2,642 | 990
Transferred to receivables from contract assets recognized at the beginning of the period | 0 | 0
Increase due to additional unamortized discounts | $ 0 | $ 0

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