Revenue Recognition - Contract Assets and Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Contract with Customer, Asset, Net [Abstract]
Current pharma contract assets	$ 1,903	$ 1,643
Long-term pharma contract assets	248	290
Total pharma contract assets	2,151	1,933
Capitalized Contract Cost [Abstract]
Current pharma capitalized commissions	126	185
Long-term pharma capitalized commissions	953	970
Total pharma capitalized commissions	1,079	1,155
Contract with Customer, Liability [Abstract]
Current pharma contract liabilities	5,278	4,029
Long-term pharma contract liabilities	932	712
Total pharma contract liabilities	$ 6,210	$ 4,741