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CONSOLIDATED STATEMENTS OF STOCKHOLDER'S DEFICIT - USD ($)
$ in Thousands
Common Stock
Class A Common Stock
Common Stock
Class B Common Stock
Common Stock
Class C Common stock
Additional Paid-In Capital
Accumulated Deficit
Treasury stock
Accumulated other comprehensive income (loss)
Class A Common Stock
Class B Common Stock
Class C Common stock
Total
Increase (Decrease) in Stockholders' Equity [Roll Forward]                      
Common shares, shares outstanding 4,947,685 32,310,230                  
Common shares, shares outstanding (in shares) 4,947,685 32,310,230                  
Balance at Dec. 31, 2017 $ 1 $ 3   $ 27,174 $ (242,427) $ (820) $ (890)       $ (216,959)
Increase (Decrease) in Stockholders' Equity [Roll Forward]                      
Net loss         (77,535)           (77,535)
Stock-based compensation       5,020             5,020
Issuance of common stock upon exercise of stock options       640             640
Issuance of common stock upon exercise of stock options 46,664 901,325                  
Other comprehensive loss             (1,216)       (1,216)
Balance at Dec. 31, 2018 $ 1 $ 3   32,834 (319,962) (820) (2,106)       (290,050)
Increase (Decrease) in Stockholders' Equity [Roll Forward]                      
Common shares, shares outstanding 4,994,349 33,211,555                  
Common shares, shares outstanding (in shares) 4,994,349 33,211,555                  
Net loss         (37,192)           (37,192)
Stock-based compensation       2,813             2,813
Issuance of common stock upon exercise of stock options       195             195
Issuance of common stock upon exercise of stock options 19,951 692,546                  
Other comprehensive loss             863       863
Balance at Dec. 31, 2019 $ 1 $ 3   35,842 (357,154) (820) (1,243)       (323,371)
Increase (Decrease) in Stockholders' Equity [Roll Forward]                      
Common shares, shares outstanding 5,014,300 33,904,101           5,014,300 33,904,101 0  
Common shares, shares outstanding (in shares) 5,014,300 33,904,101           5,014,300 33,904,101 0  
Net loss         (13,624)           (13,624)
Stock-based compensation       390             390
Issuance of common stock upon exercise of stock options       38             38
Issuance of common stock upon exercise of stock options 3,000 53,000                  
Other comprehensive loss             (3,805)       (3,805)
Balance at Dec. 31, 2019 $ 1 $ 3   35,842 (357,154) (820) (1,243)       (323,371)
Increase (Decrease) in Stockholders' Equity [Roll Forward]                      
Net loss                     (21,909)
Other comprehensive loss                     (2,838)
Balance at Dec. 31, 2019 $ 1 $ 3   35,842 (357,154) (820) (1,243)       (323,371)
Increase (Decrease) in Stockholders' Equity [Roll Forward]                      
Net loss         10,336           10,336
Stock-based compensation       1,189             1,189
Issuance of common stock upon exercise of stock options       159             159
Issuance of common stock upon exercise of stock options 20,159 210,226                  
Other comprehensive loss             (2,116)       (2,116)
Balance at Dec. 31, 2020 $ 1 $ 3   37,190 (346,818) (820) (3,359)       (313,803)
Increase (Decrease) in Stockholders' Equity [Roll Forward]                      
Common shares, shares outstanding 5,017,000 33,957,000                  
Common shares, shares outstanding (in shares) 5,017,000 33,957,000                  
Net loss         (6,093)           (6,093)
Stock-based compensation       384             384
Issuance of common stock upon exercise of stock options       14             14
Issuance of common stock upon exercise of stock options 5,000 20,000                  
Other comprehensive loss             (23)       (23)
Common shares, shares outstanding 5,022,000 33,977,000                  
Common shares, shares outstanding (in shares) 5,022,000 33,977,000                  
Net loss         (2,192)           (2,192)
Stock-based compensation       327             327
Issuance of common stock upon exercise of stock options       44             44
Issuance of common stock upon exercise of stock options 3,000 105,000                  
Other comprehensive loss             990       990
Balance at Dec. 31, 2020 $ 1 $ 3   37,190 (346,818) (820) (3,359)       (313,803)
Increase (Decrease) in Stockholders' Equity [Roll Forward]                      
Common shares, shares outstanding 5,025,000 34,082,000                  
Common shares, shares outstanding (in shares) 5,025,000 34,082,000                  
Common shares, shares outstanding 5,034,459 34,114,327           5,034,459 34,114,327 0  
Common shares, shares outstanding (in shares) 5,034,459 34,114,327           5,034,459 34,114,327 0  
Stock-based compensation       138             138
Issuance of common stock upon exercise of stock options       142             142
Issuance of common stock upon exercise of stock options 19,000 161,000                  
Other comprehensive loss             (329)       (329)
Balance at Dec. 31, 2020 $ 1 $ 3   37,190 (346,818) (820) (3,359)       (313,803)
Balance at Dec. 31, 2020 $ 1 $ 3   37,190 $ (346,818) $ (820) (3,359)       (313,803)
Increase (Decrease) in Stockholders' Equity [Roll Forward]                      
Net loss                     (15,735)
Other comprehensive loss                     262
Balance at Sep. 30, 2021                     (268,782)
Increase (Decrease) in Stockholders' Equity [Roll Forward]                      
Common shares, shares outstanding 5,053,000 34,275,000 21,170,000                
Common shares, shares outstanding (in shares) 5,053,000 34,275,000 21,170,000                
Stock-based compensation       209             209
Issuance of common stock upon exercise of stock options       145             145
Issuance of common stock upon exercise of stock options 29,000 180,000                  
Other comprehensive loss             105       105
Common shares, shares outstanding 5,082,000 34,455,000 21,170,000                
Common shares, shares outstanding (in shares) 5,082,000 34,455,000 21,170,000                
Net loss                     (3,786)
Stock-based compensation       503             503
Issuance of common stock upon exercise of stock options       $ 294             294
Issuance of common stock upon exercise of stock options 43,000 366,000                  
Other comprehensive loss             $ 485       485
Balance at Sep. 30, 2021                     $ (268,782)
Increase (Decrease) in Stockholders' Equity [Roll Forward]                      
Common shares, shares outstanding 12,803,000 27,143,000 21,170,000         5,081,771 27,143,111 21,170,037  
Common shares, shares outstanding (in shares) 12,803,000 27,143,000 21,170,000         5,081,771 27,143,111 21,170,037