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Commitment and Contingencies - Schedule of Put Option Rollforward (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Mar. 31, 2021
Dec. 31, 2020
Mar. 31, 2020
Dec. 31, 2019
Separate Account, Liability [Roll Forward]                
Fair value adjustments during the period     $ 3,285 $ 2,589        
Five-year warrants                
Separate Account, Liability [Roll Forward]                
Beginning balance $ 18,350 $ 10,722 18,350 10,722 $ 16,149 $ 14,205 $ 0 $ 0
Initial recognition of put option liability 0 9,472 0 9,472        
Fair value adjustments during the period 2,201 1,250 4,145 1,250        
Ending balance $ 18,350 $ 10,722 $ 18,350 $ 10,722