Intangible Assets - Schedule of Intangible Assets (Details) - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Finite-Lived Intangible Assets [Line Items]
Gross Carrying Value	$ 19,469	$ 18,452
Accumulated Amortization	(10,543)	(9,120)
Net Carrying Amount	8,926	9,332
Patents
Finite-Lived Intangible Assets [Line Items]
Gross Carrying Value	1,471	1,651
Accumulated Amortization	(1,152)	(1,203)
Net Carrying Amount	319	448
Acquired intellectual property and reacquired rights
Finite-Lived Intangible Assets [Line Items]
Gross Carrying Value	15,125	15,126
Accumulated Amortization	(8,545)	(7,770)
Net Carrying Amount	6,580	7,356
Cloud computing arrangements
Finite-Lived Intangible Assets [Line Items]
Gross Carrying Value	2,873	1,675
Accumulated Amortization	(846)	(147)
Net Carrying Amount	$ 2,027	$ 1,528