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Debt - Summary of Long-Term Debt (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
May 31, 2020
Debt Instrument [Line Items]      
Long-term debt $ 0 $ 6,927  
Less amounts classified as current 0 4,992  
Long-term debt, excluding current portion 0 1,935  
PPP Loan      
Debt Instrument [Line Items]      
Long-term debt $ 0 $ 6,927 $ 6,927