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Summary of Significant Accounting Policies - Summary of Financial Assets Measured at Fair Value (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Level 1 | Cash and Cash Equivalents    
Assets:    
Assets $ 37,470 $ 26,718
Level 1 | Restricted Cash    
Assets:    
Assets 2,129 3,379
Level 3 | Fair Market Value of Warrant Liability    
Liabilities:    
Liabilities   31,821
Level 3 | Estimated Fair Value of Contingent Earn-out Considerations    
Liabilities:    
Liabilities 31,553 $ 22,531
Level 3 | Fair Value of Derivative Liability    
Liabilities:    
Liabilities $ 1,360