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Revenue Recognition (Details) - USD ($) $ in Thousands | Sep. 30, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Jan. 01, 2019
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Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Contract assets | $ 7,500 | $ 2,800 | $ 6,200 |
Deferred revenue | 1,503 | 2,432 | $ 1,473 | $ 4,000
Deferred revenue balance | 1,300 |  |  |
Transaction price allocated to the remaining performance obligations | $ 5,700 | $ 11,200 |  |
Maximum |  |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Expected recognized period (in years) | 3 years | 3 years |  |

X
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