XML 93 R81.htm IDEA: XBRL DOCUMENT v3.21.2
Commitments and contingencies - Loan Exit Fee, Supply Agreement and Software Subscription (Details) - USD ($)
$ in Millions
Sep. 30, 2021
Dec. 31, 2020
Dec. 31, 2016
Loan exit fee      
Long-term Purchase Commitment [Line Items]      
Loan exit fee     $ 0.8
Obligation   $ 0.0  
Loan exit fee | Minimum      
Long-term Purchase Commitment [Line Items]      
Percentage of common stock     50.00%
Supply arrangement      
Long-term Purchase Commitment [Line Items]      
Accrued liability $ 0.3 0.1  
Supply agreement      
Accrued supply agreement amount 0.8    
Software subscription      
Long-term Purchase Commitment [Line Items]      
Obligation 1.1    
Accrued liability $ 0.0 $ 0.0