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Fair Value Measurements (Tables)
 9 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Fair Value Disclosures [Abstract]    
Schedule of Black Scholes model for the Private Warrants
To estimate the fair value of the Private Warrants as of December 31, 2020 and September 30, 2021, the Company used a Black Scholes closed form model, which is a Level 3 fair value measurement. Significant inputs used in the Black Scholes model for the Private Warrants were as follows:
 
    
December 31, 2020

& September 30, 2021
  
Expected volatility
      16.00 % 
Expected term (in years)
      3.97  
Risk free interest rate
      1.74 % 
Dividend yield
      0.00 % 
Exercise Price
    $ 11.50  
Fair value of Common Stock
    $ 8.05  
The following table summarizes the assumptions used in the valuation models to determine the fair value of awards granted to employees and
non-employees
under both the 2019 Plan and the 2016 Plan:
    
Year Ended
December 31,
2020
   
Year Ended
December 31,
2019
Expected volatility
   
37.63 - 41.24%
   
36.92 - 37.70%
Expected term (in years)
    6.0   
6 - 6.5
Dividend yield
    0%    0%
Risk free interest rate
   
0.30 - 1.43%
   
1.79 - 2.89%
Summary of Reconciliation of Liabilities Measured at Fair Value Using Significant Unobservable Inputs (Level 3)
The following table provides a reconciliation of liabilities measured at fair value using significant unobservable inputs (Level 3) for the periods ended September 30, 2021 and December 31, 2020 (in thousands):
 
Balance at December 31, 2019
    $ 822  
Change in fair value of contingent consideration
      98  
    
 
 
  
Balance at December 31, 2020
      920  
Private warrants
      3,810  
Change in fair value of Private Warrants
      (1,651 ) 
Change in fair value of contingent consideration
      49  
    
 
 
  
Balance at September 30, 2021
    $ 3,128  
    
 
 
  

The following table provides a reconciliation of liabilities measured at fair value using significant unobservable inputs (Level 3) for the years ended December 31, 2020 and 2019 (in thousands):
 
Balance at December 31, 2018
    $ —    
Additions (payments) to contingent consideration
      774  
Change in fair value of contingent consideration
      48  
    
 
 
  
Balance at December 31, 2019
      822  
Additions (payments) to contingent consideration
      —    
Change in fair value of contingent consideration
      98  
    
 
 
  
Balance at December 31, 2020
    $ 920