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Stockholders' Equity - (Details) - USD ($)
$ / shares in Units, $ 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
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  
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 outstanding 5,081,771   5,081,771   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 outstanding 27,143,111   27,143,111   34,114,327 33,904,101    
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 outstanding 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    
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      
Weighted average fair value of stock options granted         $ 1.03 $ 1.01 $ 1.26  
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