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Supplemental Financial Statement Information - Schedule of Credit Risk (Details) - Customer Concentration Risk - Accounts Receivable
9 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Humana    
Concentration Risk [Line Items]    
Major customer revenue, percentage 27.00% 21.00%
UnitedHealthcare    
Concentration Risk [Line Items]    
Major customer revenue, percentage 24.00% 21.00%
Aetna    
Concentration Risk [Line Items]    
Major customer revenue, percentage 17.00% 20.00%
Centene    
Concentration Risk [Line Items]    
Major customer revenue, percentage 8.00% 11.00%