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Financial Instruments and Fair Value Measurements - Equity Investment in InCarda (Details) - InCarda
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2021
USD ($)
Director
Sep. 30, 2020
USD ($)
$ / shares
shares
Sep. 30, 2021
USD ($)
Director
Dec. 31, 2020
USD ($)
Equity Investment        
Number of Investee's Board members currently representing the Company | Director 1   1  
Number of the Investee's Board members | Director 8   8  
Equity investment ownership percentage 13.00%   13.00% 13.40%
Series C preferred stock and warrants        
Equity Investment        
Payments to acquire equity securities   $ 15,000,000.0    
Transaction costs to acquire equity securities   $ 800,000    
Series C preferred stock        
Equity Investment        
Number of shares purchased under the securities purchase agreement | shares   20,469,432    
Equity and long-term investments at fair value $ 15,800,000   $ 15,800,000 $ 15,800,000
Impairment of equity investments     0 0
Warrants        
Equity Investment        
Number of warrants purchased under the securities purchase agreement | shares   5,117,358    
Equity and long-term investments at fair value $ 600,000   600,000 $ 1,100,000
Exercise price of warrants | $ / shares   $ 0.7328    
Extended expiration date Mar. 31, 2022      
Unrealized loss from fair value changes in equity investments     $ 600,000  
Unrealized gain from fair value changes in equity investments $ 100,000