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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