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Commitments and Contingencies (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Commitments and Contingencies Disclosure [Abstract]        
Rent expense $ 1.3 $ 1.4 $ 4.1 $ 4.4