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Summary of Significant Accounting Policies - Narrative (Details) - USD ($)
3 Months Ended 63 Months Ended
Oct. 10, 2019
Sep. 30, 2015
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2020
Sep. 30, 2020
Business Acquisition [Line Items]            
Contract asset     $ 400,000   $ 400,000 $ 400,000
Contract liability     3,400,000   $ 3,400,000 3,300,000
Contract liability recognized as revenue     1,400,000      
Interest income     $ 185,000 $ 252,000    
Incremental common shares attributable to dilutive effect of share-based payment arrangements (in shares)     1,734,225      
Antidilutive securities excluded from computation of earnings per share, amount (in shares)     1,711,221      
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2021-01-01            
Business Acquisition [Line Items]            
Remaining performance obligation, period     1 year   1 year  
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2021-01-01 | Machinio            
Business Acquisition [Line Items]            
Remaining performance obligation     $ 3,400,000   $ 3,400,000  
Supplier Concentration Risk | Cost of Goods | Contract With Commercial Client            
Business Acquisition [Line Items]            
Concentration risk (as a percentage)     60.00% 48.30%    
Tanager Acquisitions Promissory Note            
Business Acquisition [Line Items]            
Receivable with imputed interest, face amount   $ 12,300,000        
Receivable with imputed interest, term   5 years        
Proceeds from collection of notes receivable $ 2,500,000       7,300,000  
Interest income 400,000          
Prepayment discount $ 500,000          
Receivable with imputed interest, net amount     $ 5,000,000.0   5,000,000.0  
Tanager Acquisitions Promissory Note | Other Assets            
Business Acquisition [Line Items]            
Receivable with imputed interest, net amount     3,400,000   3,400,000  
Tanager Acquisitions Promissory Note | Prepaid Expenses and Other Current Assets            
Business Acquisition [Line Items]            
Receivable with imputed interest, net amount     1,600,000   1,600,000  
Prepaid Expenses and Other Current Assets            
Business Acquisition [Line Items]            
Contract costs     $ 900,000   $ 900,000 $ 700,000