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Stockholders' Equity - (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Feb. 28, 2021
Oct. 16, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Options granted term         10 years        
Share-based compensation costs $ 503 $ 327 $ 850 $ 988 $ 1,189 $ 2,813 $ 5,020    
Income tax provision (benefit) $ 0 $ 0 $ 0 $ 0          
Sale of transaction                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Liquidity of Shares 8,043,830   8,043,830            
Other events                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Incremental stock-based compensation expense     $ 13,500            
Liquidity of Shares 9,124,000   9,124,000            
2015 Equity Incentive Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Award vesting period         4 years        
Class A Common Stock                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Common shares, shares issued (in shares) 12,803,162   12,803,162   5,034,459 5,014,300      
Common shares, shares authorized (in shares) 500,000,000   500,000,000   500,000,000 500,000,000      
Class B Common Stock                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Common shares, shares issued (in shares) 27,391,338   27,391,338   34,362,554 34,152,328      
Common shares, shares authorized (in shares) 500,000,000   500,000,000   500,000,000 500,000,000      
Class C Common stock                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Common shares, shares issued (in shares) 21,170,037   21,170,037   0 0      
Common shares, shares authorized (in shares) 25,000,000   25,000,000   25,000,000 25,000,000      
Verizon                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Cash investment               $ 35,000  
Stock option                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Share-based compensation costs     $ 2,600   $ 10,500        
Weighted-average remaining requisite service period     3 years   2 months 12 days        
Intrinsic value of stock options exercised         $ 400 $ 1,600 $ 2,000    
Stock option | 2015 Equity Incentive Plan                  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]                  
Number of shares available for grant         16,895,765        
Number of shares available for future issuance         17,327,629 14,266,318 14,000,528   15,700,000